muskie82/cnn-dso

Direct Sparse Odometry with CNN Depth Prediction

cnn-dso's Issues

make error since no rule to make target "/tensorflow/local/lib/libtensorflow_cc.so", needed by bin/dso_dataset

[ 84%] Building CXX object CMakeFiles/dso.dir/src/IOWrapper/Pangolin/KeyFrameDisplay.cpp.o
[ 88%] Building CXX object CMakeFiles/dso.dir/src/IOWrapper/Pangolin/PangolinDSOViewer.cpp.o
[ 92%] Linking CXX static library lib/libdso.a
[ 92%] Built target dso
Scanning dependencies of target dso_dataset
[ 96%] Building CXX object CMakeFiles/dso_dataset.dir/src/main_dso_pangolin.cpp.o
make[2]: *** No rule to make target '/home/hide/Downloads/1.6/tensorflow/local/lib/libtensorflow_cc.so', needed by 'bin/dso_dataset'. Stop.
CMakeFiles/Makefile2:77: recipe for target 'CMakeFiles/dso_dataset.dir/all' failed
make[1]: *** [CMakeFiles/dso_dataset.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

I check the CMakeList.txt and find the following content:

---

target_link_libraries(dso_dataset dso boost_system cxsparse ${BOOST_THREAD_LIBRARY} ${LIBZIP_LIBRARY} ${Pangolin_LIBRARIES} ${OpenCV_LIBS} /home/hide/Downloads/1.6/tensorflow/local/lib/libtensorflow_cc.so)

---

But, there is no libtensorflow_cc.so since we build tensorflow using "bazel build --config=opt --config=cuda --config=monolithic tensorflow:libtensorflow_all.so"
I guess i need to re build tensorflow like the following way
"bazel build --config=opt --config=cuda --config=monolithic tensorflow:libtensorflow_all.so tensorflow:libtensorflow_cc.so"

or

target_link_libraries(dso_dataset dso boost_system cxsparse ${BOOST_THREAD_LIBRARY} ${LIBZIP_LIBRARY} ${Pangolin_LIBRARIES} ${OpenCV_LIBS} path/libtensorflow_all.so**)

Since we only have the libtensorflow_all.so* availble, so i link this library to the target dso_dataset.
Now, it is build successfully

KITTI splits

Hi,

Thank you for referencing us.

I'm not sure how you are evaluating but I thought it is good to let you know. I just oppened an issue in our github which might be applicable to your case as well.

Cheers,
Ali

make error

Hi @muskie82 , I can build dso successfully, but there is a very very confused problem when I build this repo.

[ 96%] Building CXX object CMakeFiles/dso_dataset.dir/src/main_dso_pangolin.cpp.o
/home/cheng/CNN-DSO/src/main_dso_pangolin.cpp: In function ‘void parseArgument(char*)’:
/home/cheng/CNN-DSO/src/main_dso_pangolin.cpp:222:4: error: reference to ‘reverse’ is ambiguous
reverse = true;
^
/home/cheng/CNN-DSO/src/main_dso_pangolin.cpp:59:6: note: candidates are: bool reverse
bool reverse = false;
^
In file included from /usr/include/c++/4.8/algorithm:62:0,
from /usr/local/include/eigen3/Eigen/Core:297,
from /home/cheng/CNN-DSO/src/util/NumType.h:27,
from /home/cheng/CNN-DSO/src/IOWrapper/Output3DWrapper.h:30,
from /home/cheng/CNN-DSO/src/main_dso_pangolin.cpp:33:
/usr/include/c++/4.8/bits/stl_algo.h:1442:5: note: template void std::reverse(_BIter, _BIter)
reverse(_BidirectionalIterator __first, _BidirectionalIterator __last)
^
/home/cheng/CNN-DSO/src/main_dso_pangolin.cpp:262:3: error: reference to ‘end’ is ambiguous
end = option;
^
/home/cheng/CNN-DSO/src/main_dso_pangolin.cpp:62:5: note: candidates are: int end
int end=100000;
^
In file included from /usr/include/c++/4.8/string:51:0,
from /usr/include/c++/4.8/stdexcept:39,
from /usr/include/c++/4.8/array:38,
from /usr/include/c++/4.8/tuple:39,
from /usr/include/c++/4.8/functional:55,
from /usr/include/c++/4.8/thread:39,
from /home/cheng/CNN-DSO/src/main_dso_pangolin.cpp:26:
/usr/include/c++/4.8/bits/range_access.h:97:5: note: template<class _Tp, long unsigned int _Nm> _Tp* std::end(_Tp (&)[_Nm])
end(_Tp (&__arr)[_Nm])
^
/usr/include/c++/4.8/bits/range_access.h:78:5: note: template decltype (__cont.end()) std::end(const _Container&)
end(const _Container& __cont) -> decltype(__cont.end())
^
/usr/include/c++/4.8/bits/range_access.h:68:5: note: template decltype (__cont.end()) std::end(_Container&)
end(_Container& __cont) -> decltype(__cont.end())
^
In file included from /usr/include/c++/4.8/utility:74:0,
from /usr/include/c++/4.8/tuple:38,
from /usr/include/c++/4.8/functional:55,
from /usr/include/c++/4.8/thread:39,
from /home/cheng/CNN-DSO/src/main_dso_pangolin.cpp:26:
/usr/include/c++/4.8/initializer_list:99:5: note: template constexpr const _Tp* std::end(std::initializer_list<_Tp>)
end(initializer_list<_Tp> __ils) noexcept
^
/home/cheng/CNN-DSO/src/main_dso_pangolin.cpp: In function ‘int main(int, char**)’:
/home/cheng/CNN-DSO/src/main_dso_pangolin.cpp:385:13: error: reference to ‘end’ is ambiguous
int lend = end;
^
/home/cheng/CNN-DSO/src/main_dso_pangolin.cpp:62:5: note: candidates are: int end
int end=100000;
^
In file included from /usr/include/c++/4.8/string:51:0,
from /usr/include/c++/4.8/stdexcept:39,
from /usr/include/c++/4.8/array:38,
from /usr/include/c++/4.8/tuple:39,
from /usr/include/c++/4.8/functional:55,
from /usr/include/c++/4.8/thread:39,
from /home/cheng/CNN-DSO/src/main_dso_pangolin.cpp:26:
/usr/include/c++/4.8/bits/range_access.h:97:5: note: template<class _Tp, long unsigned int _Nm> _Tp* std::end(_Tp (&)[_Nm])
end(_Tp (&__arr)[_Nm])
^
/usr/include/c++/4.8/bits/range_access.h:78:5: note: template decltype (__cont.end()) std::end(const _Container&)
end(const _Container& __cont) -> decltype(__cont.end())
^
/usr/include/c++/4.8/bits/range_access.h:68:5: note: template decltype (__cont.end()) std::end(_Container&)
end(_Container& __cont) -> decltype(__cont.end())
^
In file included from /usr/include/c++/4.8/utility:74:0,
from /usr/include/c++/4.8/tuple:38,
from /usr/include/c++/4.8/functional:55,
from /usr/include/c++/4.8/thread:39,
from /home/cheng/CNN-DSO/src/main_dso_pangolin.cpp:26:
/usr/include/c++/4.8/initializer_list:99:5: note: template constexpr const _Tp* std::end(std::initializer_list<_Tp>)
end(initializer_list<_Tp> __ils) noexcept
^
/home/cheng/CNN-DSO/src/main_dso_pangolin.cpp:387:5: error: reference to ‘reverse’ is ambiguous
if(reverse)
^
/home/cheng/CNN-DSO/src/main_dso_pangolin.cpp:59:6: note: candidates are: bool reverse
bool reverse = false;
^
In file included from /usr/include/c++/4.8/algorithm:62:0,
from /usr/local/include/eigen3/Eigen/Core:297,
from /home/cheng/CNN-DSO/src/util/NumType.h:27,
from /home/cheng/CNN-DSO/src/IOWrapper/Output3DWrapper.h:30,
from /home/cheng/CNN-DSO/src/main_dso_pangolin.cpp:33:
/usr/include/c++/4.8/bits/stl_algo.h:1442:5: note: template void std::reverse(_BIter, _BIter)
reverse(_BidirectionalIterator __first, _BidirectionalIterator __last)
^
/home/cheng/CNN-DSO/src/main_dso_pangolin.cpp:390:10: error: reference to ‘end’ is ambiguous
lstart=end-1;
^
/home/cheng/CNN-DSO/src/main_dso_pangolin.cpp:62:5: note: candidates are: int end
int end=100000;
^
In file included from /usr/include/c++/4.8/string:51:0,
from /usr/include/c++/4.8/stdexcept:39,
from /usr/include/c++/4.8/array:38,
from /usr/include/c++/4.8/tuple:39,
from /usr/include/c++/4.8/functional:55,
from /usr/include/c++/4.8/thread:39,
from /home/cheng/CNN-DSO/src/main_dso_pangolin.cpp:26:
/usr/include/c++/4.8/bits/range_access.h:97:5: note: template<class _Tp, long unsigned int _Nm> _Tp* std::end(_Tp (&)[_Nm])
end(_Tp (&__arr)[_Nm])
^
/usr/include/c++/4.8/bits/range_access.h:78:5: note: template decltype (__cont.end()) std::end(const _Container&)
end(const _Container& __cont) -> decltype(__cont.end())
^
/usr/include/c++/4.8/bits/range_access.h:68:5: note: template decltype (__cont.end()) std::end(_Container&)
end(_Container& __cont) -> decltype(__cont.end())
^
In file included from /usr/include/c++/4.8/utility:74:0,
from /usr/include/c++/4.8/tuple:38,
from /usr/include/c++/4.8/functional:55,
from /usr/include/c++/4.8/thread:39,
from /home/cheng/CNN-DSO/src/main_dso_pangolin.cpp:26:
/usr/include/c++/4.8/initializer_list:99:5: note: template constexpr const _Tp* std::end(std::initializer_list<_Tp>)
end(initializer_list<_Tp> __ils) noexcept
^
CMakeFiles/dso_dataset.dir/build.make:62: recipe for target 'CMakeFiles/dso_dataset.dir/src/main_dso_pangolin.cpp.o' failed
make[2]: *** [CMakeFiles/dso_dataset.dir/src/main_dso_pangolin.cpp.o] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/dso_dataset.dir/all' failed
make[1]: *** [CMakeFiles/dso_dataset.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

I found using g++5 and g++6 caused same error, so I guess it's due to enviroment configuration for CNN or others. What are the versions of your tensorflow, cuda, cudnn, gcc and opencv ? Could you give me some suggestions? Looking forward to your reply ! Thank you very much!

Configuration

Hi @muskie82 , I try to build this demo, but failed (issue about error info I have closed). I'm confused and guess it's due to environment configuration. What are the versions of tensorflow, gcc, cuda, cudnn and opencv you used ? Could you help me ? Thank you very much!

About trajectory estimaton

@muskie82 Hi, I think this project is very nice, and I want to have a try to compare the trajectory with groundtruth. But I have no experience about estimating it, could you give me some advice?
I would be very grateful if you can share the corresponding code. Thank you very much!

subsititue my own depth ground truth to cnn predicted depth

Deviation in the results

Could you please share the camera.txt that you have used for producing the reported results? I use that
https://github.com/tum-vision/LDSO/tree/master/examples/Kitti
as a camera.txt and I get higher errors than the reported.