rozdavid/lol

LOL: Lidar-only Odometry and Localization in 3D point cloud maps

lol's Issues

Roslaunch got a 'No such file or directory' error while attempting to run

Hi @RozDavid. Thanks for your work, I could sucessfully build all the files with a few warnings in my system.
My system has GTX1060 & Ubuntu 16.04 LTS & cuda 9.0 & cudnn7.0.4 in docker.
Since the error when I tried to launch the launchfile name of "segmapper kitti_loam_segmap.launch" is same as down below.
I checked the launch file and yaml file location and it was not the reason. I would like to ask you about the whole system tree file location if it is right.
I cannot figure out what the problem is. Could you give me any idea with this problem? Thanks.

ps. Roslaunch file have modified for the location of bag_file, kitti_localization.yaml, drive18_target_map.pcd.

Sincerely, Jeff.

How the source have built with the catkin build.

root@jeff-laptop:~/Catkin/LOL catkin build tensorflow_ros_cpp --cmake-args -DFORCE_TF_PIP_SEARCH="OFF" -DFORCE_TF_BAZEL_SEARCH="ON" -DTF_BAZEL_LIBRARY="/root/tensorflow-1.8.0-rc1/bazel-bin/tensorflow/libtensorflow_cc.so" -DTF_BAZEL_SRC_DIR="/root/tensorflow-1.8.0-rc1"

Profile: default
Extending: [cached] /opt/ros/kinetic
Workspace: /root/Catkin/LOL

Build Space: [exists] /root/Catkin/LOL/build
Devel Space: [exists] /root/Catkin/LOL/devel
Install Space: [unused] /root/Catkin/LOL/install
Log Space: [exists] /root/Catkin/LOL/logs
Source Space: [exists] /root/Catkin/LOL/src
DESTDIR: [unused] None

Devel Space Layout: merged
Install Space Layout: None

Additional CMake Args: -DCMAKE_BUILD_TYPE=Release -DFORCE_TF_PIP_SEARCH=OFF -DFORCE_TF_BAZEL_SEARCH=ON -DTF_BAZEL_LIBRARY=/root/tensorflow-1.8.0-rc1/bazel-bin/tensorflow/libtensorflow_cc.so -DTF_BAZEL_SRC_DIR=/root/tensorflow-1.8.0-rc1
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False

Whitelisted Packages: None
Blacklisted Packages: None

Workspace configuration appears valid.

NOTE: Forcing CMake to run for each package.

[build] Found '33' packages in 0.0 seconds.
[build] Package table is up to date.
Starting >>> tensorflow_ros_cpp

---

Warnings << tensorflow_ros_cpp:cmake /root/Catkin/LOL/logs/tensorflow_ros_cpp/build.cmake.002.log
-- tensorflow_ros_cpp is probing the system
-- - The system uses C++11 ABI, the use of tensorflow from pip is possible, but problematic; consider compiling tensorflow yourself
-- - Not searching for Tensorflow installed by pip since the system uses C++11 ABI. Set FORCE_TF_PIP_SEARCH to force the search.
-- - Trying to find Tensorflow compiled by bazel
-- -- Found bazel-compiled libtensorflow_cc.so, using it.
-- -- Found Tensorflow sources dir /root/tensorflow-1.8.0-rc1.
-- -- The Tensorflow library is compiled with CUDA support.
-- -- Using protobuf compiler libprotoc 3.5.0
, you should compile your code with the same version of protoc.
-- -- You can do it by using 'export PATH=/root/tensorflow-1.8.0-rc1/bazel-out/host/bin/external/protobuf_archive:$PATH'
-- - Not searching for Tensorflow from tensorflow_catkin since Tensorflow has already been found. Set FORCE_TF_CATKIN_SEARCH to force the search.
-- Using Tensorflow library found by bazel
-- The found Tensorflow library uses C++11 ABI.
-- The found Tensorflow library is compiled with CUDA support.
cd /root/Catkin/LOL/build/tensorflow_ros_cpp; catkin build --get-env tensorflow_ros_cpp | catkin env -si /usr/bin/cmake /root/Catkin/LOL/src/tensorflow_ros_cpp --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/root/Catkin/LOL/devel -DCMAKE_INSTALL_PREFIX=/root/Catkin/LOL/install -DCMAKE_BUILD_TYPE=Release -DFORCE_TF_PIP_SEARCH=OFF -DFORCE_TF_BAZEL_SEARCH=ON -DTF_BAZEL_LIBRARY=/root/tensorflow-1.8.0-rc1/bazel-bin/tensorflow/libtensorflow_cc.so -DTF_BAZEL_SRC_DIR=/root/tensorflow-1.8.0-rc1; cd -

......................................................................................................
Finished <<< tensorflow_ros_cpp [ 1.2 seconds ]
[build] Summary: All 1 packages succeeded!
[build] Ignored: 32 packages were skipped or are blacklisted.
[build] Warnings: 1 packages succeeded with warnings.
[build] Abandoned: None.
[build] Failed: None.
[build] Runtime: 1.4 seconds total.
Exception ignored in: <bound method BaseEventLoop.del of <_UnixSelectorEventLoop running=False closed=True debug=False>>
Traceback (most recent call last):
File "/usr/lib/python3.5/asyncio/base_events.py", line 431, in del
File "/usr/lib/python3.5/asyncio/unix_events.py", line 58, in close
File "/usr/lib/python3.5/asyncio/unix_events.py", line 139, in remove_signal_handler
File "/usr/lib/python3.5/signal.py", line 47, in signal
TypeError: signal handler must be signal.SIG_IGN, signal.SIG_DFL, or a callable object
root@jeff-laptop:~/Catkin/LOL# catkin build segmapper -j5

Profile: default
Extending: [cached] /opt/ros/kinetic
Workspace: /root/Catkin/LOL

Build Space: [exists] /root/Catkin/LOL/build
Devel Space: [exists] /root/Catkin/LOL/devel
Install Space: [unused] /root/Catkin/LOL/install
Log Space: [exists] /root/Catkin/LOL/logs
Source Space: [exists] /root/Catkin/LOL/src
DESTDIR: [unused] None

Devel Space Layout: merged
Install Space Layout: None

Additional CMake Args: -DCMAKE_BUILD_TYPE=Release
Additional Make Args: -j5
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False

Whitelisted Packages: None
Blacklisted Packages: None

Workspace configuration appears valid.

NOTE: Forcing CMake to run for each package.

[build] Found '33' packages in 0.0 seconds.
[build] Package table is up to date.
Starting >>> catkin_simple
Starting >>> doxygen_catkin
Starting >>> libnabo
Starting >>> tensorflow_ros_cpp

---

Warnings << tensorflow_ros_cpp:cmake /root/Catkin/LOL/logs/tensorflow_ros_cpp/build.cmake.003.log
-- tensorflow_ros_cpp is probing the system
-- - The system uses C++11 ABI, the use of tensorflow from pip is possible, but problematic; consider compiling tensorflow yourself
-- - Not searching for Tensorflow installed by pip since the system uses C++11 ABI. Set FORCE_TF_PIP_SEARCH to force the search.
-- - Trying to find Tensorflow compiled by bazel
-- -- Found bazel-compiled libtensorflow_cc.so, using it.
-- -- Found Tensorflow sources dir /root/tensorflow-1.8.0-rc1.
-- -- The Tensorflow library is compiled with CUDA support.
-- -- Using protobuf compiler libprotoc 3.5.0
, you should compile your code with the same version of protoc.
-- -- You can do it by using 'export PATH=/root/tensorflow-1.8.0-rc1/bazel-out/host/bin/external/protobuf_archive:$PATH'
-- - Not searching for Tensorflow from tensorflow_catkin since Tensorflow has already been found. Set FORCE_TF_CATKIN_SEARCH to force the search.
-- Using Tensorflow library found by bazel
-- The found Tensorflow library uses C++11 ABI.
-- The found Tensorflow library is compiled with CUDA support.
cd /root/Catkin/LOL/build/tensorflow_ros_cpp; catkin build --get-env tensorflow_ros_cpp | catkin env -si /usr/bin/cmake /root/Catkin/LOL/src/tensorflow_ros_cpp --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/root/Catkin/LOL/devel -DCMAKE_INSTALL_PREFIX=/root/Catkin/LOL/install -DCMAKE_BUILD_TYPE=Release; cd -

......................................................................................................
Finished <<< tensorflow_ros_cpp [ 0.6 seconds ]
Finished <<< catkin_simple [ 1.0 seconds ]
Starting >>> eigen_catkin
Starting >>> gflags_catkin
Starting >>> metis_catkin
Finished <<< doxygen_catkin [ 1.2 seconds ]
Starting >>> pcl_catkin
Finished <<< gflags_catkin [ 1.1 seconds ]
Starting >>> glog_catkin
Finished <<< eigen_catkin [ 1.0 seconds ]
Finished <<< metis_catkin [ 1.1 seconds ]
Starting >>> gtsam_catkin
Finished <<< pcl_catkin [ 1.1 seconds ]
Finished <<< glog_catkin [ 1.1 seconds ]
Starting >>> eigen_checks
Starting >>> tf_graph_executor
Finished <<< gtsam_catkin [ 1.1 seconds ]
Finished <<< eigen_checks [ 2.0 seconds ]
Starting >>> minkindr
Finished <<< tf_graph_executor [ 2.7 seconds ]

---

Warnings << libnabo:cmake /root/Catkin/LOL/logs/libnabo/build.cmake.001.log
CMake Warning (dev) at UseDoxygen.cmake:112 (get_target_property):
Policy CMP0045 is not set: Error on non-existent target in
get_target_property. Run "cmake --help-policy CMP0045" for policy details.
Use the cmake_policy command to set the policy and suppress this warning.

get_target_property() called with non-existent target "doc".
Call Stack (most recent call first):
CMakeLists.txt:40 (include)
This warning is for project developers. Use -Wno-dev to suppress it.

OpenCL disabled, not looking for it
ANN not found, disabling it in benchmarks
FLANN found, enabling it in benchmarks
Python version from interpreter is 3.6
Python libs and executable found, looking for numpy and boost::python
CMake Warning (dev) at CMakeLists.txt:162 (get_property):
Policy CMP0026 is not set: Disallow use of the LOCATION target property.
Run "cmake --help-policy CMP0026" for policy details. Use the cmake_policy
command to set the policy and suppress this warning.

The LOCATION property should not be read from target "nabo". Use the
target name directly with add_custom_command, or use the generator
expression $<TARGET_FILE>, as appropriate.

This warning is for project developers. Use -Wno-dev to suppress it.

cd /root/Catkin/LOL/build/libnabo; catkin build --get-env libnabo | catkin env -si /usr/bin/cmake /root/Catkin/LOL/src/libnabo --no-warn-unused-cli -DCMAKE_INSTALL_PREFIX=/root/Catkin/LOL/devel -DCMAKE_BUILD_TYPE=Release; cd -

......................................................................................................
Finished <<< minkindr [ 2.0 seconds ]
Starting >>> minkindr_gtsam

---

Warnings << libnabo:make /root/Catkin/LOL/logs/libnabo/build.make.001.log
warning: Tag SYMBOL_CACHE_SIZE' at line 289 of file /root/Catkin/LOL/build/libnabo/Doxyfile' has become obsolete.
To avoid this warning please remove this line from your configuration file or upgrade it using "doxygen -u"
warning: Tag SHOW_DIRECTORIES' at line 473 of file /root/Catkin/LOL/build/libnabo/Doxyfile' has become obsolete.
To avoid this warning please remove this line from your configuration file or upgrade it using "doxygen -u"
warning: Tag HTML_ALIGN_MEMBERS' at line 799 of file /root/Catkin/LOL/build/libnabo/Doxyfile' has become obsolete.
To avoid this warning please remove this line from your configuration file or upgrade it using "doxygen -u"
warning: Tag XML_SCHEMA' at line 1136 of file /root/Catkin/LOL/build/libnabo/Doxyfile' has become obsolete.
To avoid this warning please remove this line from your configuration file or upgrade it using "doxygen -u"
warning: Tag XML_DTD' at line 1142 of file /root/Catkin/LOL/build/libnabo/Doxyfile' has become obsolete.
To avoid this warning please remove this line from your configuration file or upgrade it using "doxygen -u"
warning: doxygen no longer ships with the FreeSans font.
You may want to clear or change DOT_FONTNAME.
Otherwise you run the risk that the wrong font is being used for dot generated graphs.
/root/Catkin/LOL/src/libnabo/nabo/nabo.h:200: warning: multiple use of section label 'ANN' while adding anchor, (first occurrence: /root/Catkin/LOL/src/libnabo/nabo/nabo.h, line 171)
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:78: warning: Member Vector (typedef) of class Nabo::BruteForceSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:79: warning: Member Matrix (typedef) of class Nabo::BruteForceSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:80: warning: Member Index (typedef) of class Nabo::BruteForceSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:81: warning: Member IndexVector (typedef) of class Nabo::BruteForceSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:82: warning: Member IndexMatrix (typedef) of class Nabo::BruteForceSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:92: warning: Member knn(const Matrix &query, IndexMatrix &indices, Matrix &dists2, const Index k, const T epsilon, const unsigned optionFlags, const T maxRadius) const (function) of class Nabo::BruteForceSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:93: warning: Member knn(const Matrix &query, IndexMatrix &indices, Matrix &dists2, const Vector &maxRadii, const Index k=1, const T epsilon=0, const unsigned optionFlags=0) const (function) of class Nabo::BruteForceSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:264: warning: Member Vector (typedef) of class Nabo::BruteForceSearchOpenCL is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:265: warning: Member Matrix (typedef) of class Nabo::BruteForceSearchOpenCL is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:266: warning: Member Index (typedef) of class Nabo::BruteForceSearchOpenCL is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:228: warning: Member Vector (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:229: warning: Member Matrix (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:230: warning: Member Index (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:231: warning: Member IndexVector (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:232: warning: Member IndexMatrix (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:257: warning: Member knn(const Matrix &query, IndexMatrix &indices, Matrix &dists2, const Vector &maxRadii, const Index k=1, const T epsilon=0, const unsigned optionFlags=0) const (function) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:278: warning: Member Vector (typedef) of class Nabo::KDTreeBalancedPtInLeavesStackOpenCL is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:279: warning: Member Matrix (typedef) of class Nabo::KDTreeBalancedPtInLeavesStackOpenCL is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:280: warning: Member Index (typedef) of class Nabo::KDTreeBalancedPtInLeavesStackOpenCL is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:281: warning: Member IndexVector (typedef) of class Nabo::KDTreeBalancedPtInLeavesStackOpenCL is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:282: warning: Member IndexMatrix (typedef) of class Nabo::KDTreeBalancedPtInLeavesStackOpenCL is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:228: warning: Member Vector (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:229: warning: Member Matrix (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:230: warning: Member Index (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:231: warning: Member IndexVector (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:232: warning: Member IndexMatrix (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:257: warning: Member knn(const Matrix &query, IndexMatrix &indices, Matrix &dists2, const Vector &maxRadii, const Index k=1, const T epsilon=0, const unsigned optionFlags=0) const (function) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:354: warning: Member Vector (typedef) of class Nabo::KDTreeBalancedPtInNodesStackOpenCL is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:355: warning: Member Matrix (typedef) of class Nabo::KDTreeBalancedPtInNodesStackOpenCL is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:356: warning: Member Index (typedef) of class Nabo::KDTreeBalancedPtInNodesStackOpenCL is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:357: warning: Member IndexVector (typedef) of class Nabo::KDTreeBalancedPtInNodesStackOpenCL is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:358: warning: Member IndexMatrix (typedef) of class Nabo::KDTreeBalancedPtInNodesStackOpenCL is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:228: warning: Member Vector (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:229: warning: Member Matrix (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:230: warning: Member Index (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:231: warning: Member IndexVector (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:232: warning: Member IndexMatrix (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:257: warning: Member knn(const Matrix &query, IndexMatrix &indices, Matrix &dists2, const Vector &maxRadii, const Index k=1, const T epsilon=0, const unsigned optionFlags=0) const (function) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:100: warning: Member Vector (typedef) of class Nabo::KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:101: warning: Member Matrix (typedef) of class Nabo::KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:102: warning: Member Index (typedef) of class Nabo::KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:103: warning: Member IndexVector (typedef) of class Nabo::KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:104: warning: Member IndexMatrix (typedef) of class Nabo::KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:228: warning: Member Vector (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:229: warning: Member Matrix (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:230: warning: Member Index (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:231: warning: Member IndexVector (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:232: warning: Member IndexMatrix (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:257: warning: Member knn(const Matrix &query, IndexMatrix &indices, Matrix &dists2, const Vector &maxRadii, const Index k=1, const T epsilon=0, const unsigned optionFlags=0) const (function) of class Nabo::OpenCLSearch is not documented.
cd /root/Catkin/LOL/build/libnabo; catkin build --get-env libnabo | catkin env -si /usr/bin/make --jobserver-fds=3,4 -j; cd -

......................................................................................................

---

Warnings << libnabo:install /root/Catkin/LOL/logs/libnabo/build.install.001.log
warning: Tag SYMBOL_CACHE_SIZE' at line 289 of file /root/Catkin/LOL/build/libnabo/Doxyfile' has become obsolete.
To avoid this warning please remove this line from your configuration file or upgrade it using "doxygen -u"
warning: Tag SHOW_DIRECTORIES' at line 473 of file /root/Catkin/LOL/build/libnabo/Doxyfile' has become obsolete.
To avoid this warning please remove this line from your configuration file or upgrade it using "doxygen -u"
warning: Tag HTML_ALIGN_MEMBERS' at line 799 of file /root/Catkin/LOL/build/libnabo/Doxyfile' has become obsolete.
To avoid this warning please remove this line from your configuration file or upgrade it using "doxygen -u"
warning: Tag XML_SCHEMA' at line 1136 of file /root/Catkin/LOL/build/libnabo/Doxyfile' has become obsolete.
To avoid this warning please remove this line from your configuration file or upgrade it using "doxygen -u"
warning: Tag XML_DTD' at line 1142 of file /root/Catkin/LOL/build/libnabo/Doxyfile' has become obsolete.
To avoid this warning please remove this line from your configuration file or upgrade it using "doxygen -u"
warning: doxygen no longer ships with the FreeSans font.
You may want to clear or change DOT_FONTNAME.
Otherwise you run the risk that the wrong font is being used for dot generated graphs.
/root/Catkin/LOL/src/libnabo/nabo/nabo.h:200: warning: multiple use of section label 'ANN' while adding anchor, (first occurrence: /root/Catkin/LOL/src/libnabo/nabo/nabo.h, line 171)
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:78: warning: Member Vector (typedef) of class Nabo::BruteForceSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:79: warning: Member Matrix (typedef) of class Nabo::BruteForceSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:80: warning: Member Index (typedef) of class Nabo::BruteForceSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:81: warning: Member IndexVector (typedef) of class Nabo::BruteForceSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:82: warning: Member IndexMatrix (typedef) of class Nabo::BruteForceSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:92: warning: Member knn(const Matrix &query, IndexMatrix &indices, Matrix &dists2, const Index k, const T epsilon, const unsigned optionFlags, const T maxRadius) const (function) of class Nabo::BruteForceSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:93: warning: Member knn(const Matrix &query, IndexMatrix &indices, Matrix &dists2, const Vector &maxRadii, const Index k=1, const T epsilon=0, const unsigned optionFlags=0) const (function) of class Nabo::BruteForceSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:264: warning: Member Vector (typedef) of class Nabo::BruteForceSearchOpenCL is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:265: warning: Member Matrix (typedef) of class Nabo::BruteForceSearchOpenCL is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:266: warning: Member Index (typedef) of class Nabo::BruteForceSearchOpenCL is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:228: warning: Member Vector (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:229: warning: Member Matrix (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:230: warning: Member Index (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:231: warning: Member IndexVector (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:232: warning: Member IndexMatrix (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:257: warning: Member knn(const Matrix &query, IndexMatrix &indices, Matrix &dists2, const Vector &maxRadii, const Index k=1, const T epsilon=0, const unsigned optionFlags=0) const (function) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:278: warning: Member Vector (typedef) of class Nabo::KDTreeBalancedPtInLeavesStackOpenCL is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:279: warning: Member Matrix (typedef) of class Nabo::KDTreeBalancedPtInLeavesStackOpenCL is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:280: warning: Member Index (typedef) of class Nabo::KDTreeBalancedPtInLeavesStackOpenCL is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:281: warning: Member IndexVector (typedef) of class Nabo::KDTreeBalancedPtInLeavesStackOpenCL is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:282: warning: Member IndexMatrix (typedef) of class Nabo::KDTreeBalancedPtInLeavesStackOpenCL is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:228: warning: Member Vector (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:229: warning: Member Matrix (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:230: warning: Member Index (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:231: warning: Member IndexVector (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:232: warning: Member IndexMatrix (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:257: warning: Member knn(const Matrix &query, IndexMatrix &indices, Matrix &dists2, const Vector &maxRadii, const Index k=1, const T epsilon=0, const unsigned optionFlags=0) const (function) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:354: warning: Member Vector (typedef) of class Nabo::KDTreeBalancedPtInNodesStackOpenCL is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:355: warning: Member Matrix (typedef) of class Nabo::KDTreeBalancedPtInNodesStackOpenCL is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:356: warning: Member Index (typedef) of class Nabo::KDTreeBalancedPtInNodesStackOpenCL is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:357: warning: Member IndexVector (typedef) of class Nabo::KDTreeBalancedPtInNodesStackOpenCL is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:358: warning: Member IndexMatrix (typedef) of class Nabo::KDTreeBalancedPtInNodesStackOpenCL is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:228: warning: Member Vector (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:229: warning: Member Matrix (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:230: warning: Member Index (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:231: warning: Member IndexVector (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:232: warning: Member IndexMatrix (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:257: warning: Member knn(const Matrix &query, IndexMatrix &indices, Matrix &dists2, const Vector &maxRadii, const Index k=1, const T epsilon=0, const unsigned optionFlags=0) const (function) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:100: warning: Member Vector (typedef) of class Nabo::KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:101: warning: Member Matrix (typedef) of class Nabo::KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:102: warning: Member Index (typedef) of class Nabo::KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:103: warning: Member IndexVector (typedef) of class Nabo::KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:104: warning: Member IndexMatrix (typedef) of class Nabo::KDTreeUnbalancedPtInLeavesImplicitBoundsStackOpt is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:228: warning: Member Vector (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:229: warning: Member Matrix (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:230: warning: Member Index (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:231: warning: Member IndexVector (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:232: warning: Member IndexMatrix (typedef) of class Nabo::OpenCLSearch is not documented.
/root/Catkin/LOL/src/libnabo/nabo/nabo_private.h:257: warning: Member knn(const Matrix &query, IndexMatrix &indices, Matrix &dists2, const Vector &maxRadii, const Index k=1, const T epsilon=0, const unsigned optionFlags=0) const (function) of class Nabo::OpenCLSearch is not documented.
cd /root/Catkin/LOL/build/libnabo; catkin build --get-env libnabo | catkin env -si /usr/bin/make install; cd -

......................................................................................................
Finished <<< libnabo [ 9.1 seconds ]
Starting >>> libpointmatcher
Finished <<< minkindr_gtsam [ 1.6 seconds ]
Starting >>> mincurves

---

Warnings << libpointmatcher:cmake /root/Catkin/LOL/logs/libpointmatcher/build.cmake.001.log
CMake Warning (dev) at UseDoxygen.cmake:112 (get_target_property):
Policy CMP0045 is not set: Error on non-existent target in
get_target_property. Run "cmake --help-policy CMP0045" for policy details.
Use the cmake_policy command to set the policy and suppress this warning.

get_target_property() called with non-existent target "doc".
Call Stack (most recent call first):
CMakeLists.txt:93 (include)
This warning is for project developers. Use -Wno-dev to suppress it.

-- libnabo found, version 1.0.6
CMake Warning (dev) at CMakeLists.txt:191 (get_property):
Policy CMP0026 is not set: Disallow use of the LOCATION target property.
Run "cmake --help-policy CMP0026" for policy details. Use the cmake_policy
command to set the policy and suppress this warning.

The LOCATION property should not be read from target "yaml-cpp-pm". Use
the target name directly with add_custom_command, or use the generator
expression $<TARGET_FILE>, as appropriate.

This warning is for project developers. Use -Wno-dev to suppress it.

-- using built-in yaml-cpp, version 0.3.0
-- text-based configuration enabled
CMake Warning (dev) at CMakeLists.txt:330 (get_target_property):
Policy CMP0026 is not set: Disallow use of the LOCATION target property.
Run "cmake --help-policy CMP0026" for policy details. Use the cmake_policy
command to set the policy and suppress this warning.

The LOCATION property should not be read from target "pointmatcher". Use
the target name directly with add_custom_command, or use the generator
expression $<TARGET_FILE>, as appropriate.

This warning is for project developers. Use -Wno-dev to suppress it.

cd /root/Catkin/LOL/build/libpointmatcher; catkin build --get-env libpointmatcher | catkin env -si /usr/bin/cmake /root/Catkin/LOL/src/libpointmatcher --no-warn-unused-cli -DCMAKE_INSTALL_PREFIX=/root/Catkin/LOL/devel -DCMAKE_BUILD_TYPE=Release; cd -

......................................................................................................
Finished <<< mincurves [ 1.5 seconds ]

---

Warnings << libpointmatcher:make /root/Catkin/LOL/logs/libpointmatcher/build.make.001.log
warning: Tag SYMBOL_CACHE_SIZE' at line 289 of file /root/Catkin/LOL/build/libpointmatcher/Doxyfile' has become obsolete.
To avoid this warning please remove this line from your configuration file or upgrade it using "doxygen -u"
warning: Tag SHOW_DIRECTORIES' at line 473 of file /root/Catkin/LOL/build/libpointmatcher/Doxyfile' has become obsolete.
To avoid this warning please remove this line from your configuration file or upgrade it using "doxygen -u"
warning: Tag HTML_ALIGN_MEMBERS' at line 799 of file /root/Catkin/LOL/build/libpointmatcher/Doxyfile' has become obsolete.
To avoid this warning please remove this line from your configuration file or upgrade it using "doxygen -u"
warning: Tag XML_SCHEMA' at line 1136 of file /root/Catkin/LOL/build/libpointmatcher/Doxyfile' has become obsolete.
To avoid this warning please remove this line from your configuration file or upgrade it using "doxygen -u"
warning: Tag XML_DTD' at line 1142 of file /root/Catkin/LOL/build/libpointmatcher/Doxyfile' has become obsolete.
To avoid this warning please remove this line from your configuration file or upgrade it using "doxygen -u"
warning: doxygen no longer ships with the FreeSans font.
You may want to clear or change DOT_FONTNAME.
Otherwise you run the risk that the wrong font is being used for dot generated graphs.
/root/Catkin/LOL/src/libpointmatcher/pointmatcher/Documentation.dox:183: warning: multiple use of section label 'CMake' while adding anchor, (first occurrence: /root/Catkin/LOL/src/libpointmatcher/pointmatcher/Documentation.dox, line 180)
/root/Catkin/LOL/src/libpointmatcher/pointmatcher/PointMatcher.h:45: warning: Member EIGEN_NO_DEBUG (macro definition) of file PointMatcher.h is not documented.
/root/Catkin/LOL/src/libpointmatcher/pointmatcher/IO.cpp:62: warning: Member isBigEndian (variable) of namespace PointMatcherSupport is not documented.
/root/Catkin/LOL/src/libpointmatcher/pointmatcher/IO.cpp:63: warning: Member oneBigEndian (variable) of namespace PointMatcherSupport is not documented.
sh: 1: LATEX_COMPILER-NOTFOUND: not found
error: Problems running latex. Check your installation or look for typos in _formulas.tex and check _formulas.log!
sh: 1: dvips: not found
error: Problems running dvips. Check your installation!
cd /root/Catkin/LOL/build/libpointmatcher; catkin build --get-env libpointmatcher | catkin env -si /usr/bin/make --jobserver-fds=3,4 -j; cd -

......................................................................................................

---

Warnings << libpointmatcher:install /root/Catkin/LOL/logs/libpointmatcher/build.install.001.log
warning: Tag SYMBOL_CACHE_SIZE' at line 289 of file /root/Catkin/LOL/build/libpointmatcher/Doxyfile' has become obsolete.
To avoid this warning please remove this line from your configuration file or upgrade it using "doxygen -u"
warning: Tag SHOW_DIRECTORIES' at line 473 of file /root/Catkin/LOL/build/libpointmatcher/Doxyfile' has become obsolete.
To avoid this warning please remove this line from your configuration file or upgrade it using "doxygen -u"
warning: Tag HTML_ALIGN_MEMBERS' at line 799 of file /root/Catkin/LOL/build/libpointmatcher/Doxyfile' has become obsolete.
To avoid this warning please remove this line from your configuration file or upgrade it using "doxygen -u"
warning: Tag XML_SCHEMA' at line 1136 of file /root/Catkin/LOL/build/libpointmatcher/Doxyfile' has become obsolete.
To avoid this warning please remove this line from your configuration file or upgrade it using "doxygen -u"
warning: Tag XML_DTD' at line 1142 of file /root/Catkin/LOL/build/libpointmatcher/Doxyfile' has become obsolete.
To avoid this warning please remove this line from your configuration file or upgrade it using "doxygen -u"
warning: doxygen no longer ships with the FreeSans font.
You may want to clear or change DOT_FONTNAME.
Otherwise you run the risk that the wrong font is being used for dot generated graphs.
/root/Catkin/LOL/src/libpointmatcher/pointmatcher/Documentation.dox:183: warning: multiple use of section label 'CMake' while adding anchor, (first occurrence: /root/Catkin/LOL/src/libpointmatcher/pointmatcher/Documentation.dox, line 180)
/root/Catkin/LOL/src/libpointmatcher/pointmatcher/PointMatcher.h:45: warning: Member EIGEN_NO_DEBUG (macro definition) of file PointMatcher.h is not documented.
/root/Catkin/LOL/src/libpointmatcher/pointmatcher/IO.cpp:62: warning: Member isBigEndian (variable) of namespace PointMatcherSupport is not documented.
/root/Catkin/LOL/src/libpointmatcher/pointmatcher/IO.cpp:63: warning: Member oneBigEndian (variable) of namespace PointMatcherSupport is not documented.
sh: 1: LATEX_COMPILER-NOTFOUND: not found
error: Problems running latex. Check your installation or look for typos in _formulas.tex and check _formulas.log!
sh: 1: dvips: not found
error: Problems running dvips. Check your installation!
cd /root/Catkin/LOL/build/libpointmatcher; catkin build --get-env libpointmatcher | catkin env -si /usr/bin/make install; cd -

......................................................................................................
Finished <<< libpointmatcher [ 3.8 seconds ]
Starting >>> libpointmatcher_ros
Starting >>> laser_slam
Finished <<< libpointmatcher_ros [ 2.0 seconds ]

---

Warnings << laser_slam:make /root/Catkin/LOL/logs/laser_slam/build.make.001.log
warning: Tag XML_SCHEMA' at line 1797 of file /root/Catkin/LOL/build/laser_slam/Doxyfile' has become obsolete.
To avoid this warning please remove this line from your configuration file or upgrade it using "doxygen -u"
warning: Tag XML_DTD' at line 1803 of file /root/Catkin/LOL/build/laser_slam/Doxyfile' has become obsolete.
To avoid this warning please remove this line from your configuration file or upgrade it using "doxygen -u"
/root/Catkin/LOL/src/laser_slam/laser_slam/include/laser_slam/ros_depend/Vector3.h:380: warning: documented symbol TFSIMD_FORCE_INLINE tfScalar Vector3::distance2' was not declared or defined. /root/Catkin/LOL/src/laser_slam/laser_slam/include/laser_slam/ros_depend/Vector3.h:385: warning: documented symbol TFSIMD_FORCE_INLINE tfScalar Vector3::distance' was not declared or defined.
/root/Catkin/LOL/src/laser_slam/laser_slam/include/laser_slam/ros_depend/Vector3.h:390: warning: no matching class member found for
TFSIMD_FORCE_INLINE Vector3 Vector3::normalized() const

/root/Catkin/LOL/src/laser_slam/laser_slam/include/laser_slam/ros_depend/Vector3.h:395: warning: documented symbol `TFSIMD_FORCE_INLINE Vector3 Vector3::rotate' was not declared or defined.
/root/Catkin/LOL/src/laser_slam/laser_slam/include/laser_slam/ros_depend/Vector3.h:591: warning: no uniquely matching class member found for
TFSIMD_FORCE_INLINE void Vector3::serializeFloat(struct Vector3FloatData &dataOut) const

/root/Catkin/LOL/src/laser_slam/laser_slam/include/laser_slam/ros_depend/Vector3.h:597: warning: no uniquely matching class member found for
TFSIMD_FORCE_INLINE void Vector3::deSerializeFloat(const struct Vector3FloatData &dataIn)

/root/Catkin/LOL/src/laser_slam/laser_slam/include/laser_slam/ros_depend/Vector3.h:604: warning: documented symbol `TFSIMD_FORCE_INLINE void Vector3::serializeDouble' was not declared or defined.
/root/Catkin/LOL/src/laser_slam/laser_slam/include/laser_slam/ros_depend/Vector3.h:610: warning: no uniquely matching class member found for
TFSIMD_FORCE_INLINE void Vector3::deSerializeDouble(const struct Vector3DoubleData &dataIn)

/root/Catkin/LOL/src/laser_slam/laser_slam/include/laser_slam/ros_depend/Vector3.h:617: warning: no uniquely matching class member found for
TFSIMD_FORCE_INLINE void Vector3::serialize(struct Vector3Data &dataOut) const

/root/Catkin/LOL/src/laser_slam/laser_slam/include/laser_slam/ros_depend/Vector3.h:623: warning: no uniquely matching class member found for
TFSIMD_FORCE_INLINE void Vector3::deSerialize(const struct Vector3Data &dataIn)

cd /root/Catkin/LOL/build/laser_slam; catkin build --get-env laser_slam | catkin env -si /usr/bin/make --jobserver-fds=3,4 -j; cd -

......................................................................................................
Finished <<< laser_slam [ 2.5 seconds ]
Starting >>> laser_slam_ros
Starting >>> segmatch

---

Warnings << segmatch:cmake /root/Catkin/LOL/logs/segmatch/build.cmake.001.log
** WARNING ** io features related to openni2 will be disabled
** WARNING ** io features related to ensenso will be disabled
** WARNING ** io features related to davidSDK will be disabled
** WARNING ** io features related to dssdk will be disabled
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
** WARNING ** io features related to libusb-1.0 will be disabled
** WARNING ** visualization features related to openni2 will be disabled
** WARNING ** visualization features related to ensenso will be disabled
** WARNING ** visualization features related to davidSDK will be disabled
** WARNING ** visualization features related to dssdk will be disabled
** WARNING ** visualization features related to rssdk will be disabled
cd /root/Catkin/LOL/build/segmatch; catkin build --get-env segmatch | catkin env -si /usr/bin/cmake /root/Catkin/LOL/src/segmap/segmatch --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/root/Catkin/LOL/devel -DCMAKE_INSTALL_PREFIX=/root/Catkin/LOL/install -DCMAKE_BUILD_TYPE=Release; cd -

......................................................................................................

---

Warnings << laser_slam_ros:cmake /root/Catkin/LOL/logs/laser_slam_ros/build.cmake.001.log
** WARNING ** io features related to openni2 will be disabled
** WARNING ** io features related to ensenso will be disabled
** WARNING ** io features related to davidSDK will be disabled
** WARNING ** io features related to dssdk will be disabled
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
** WARNING ** io features related to libusb-1.0 will be disabled
** WARNING ** visualization features related to openni2 will be disabled
** WARNING ** visualization features related to ensenso will be disabled
** WARNING ** visualization features related to davidSDK will be disabled
** WARNING ** visualization features related to dssdk will be disabled
** WARNING ** visualization features related to rssdk will be disabled
cd /root/Catkin/LOL/build/laser_slam_ros; catkin build --get-env laser_slam_ros | catkin env -si /usr/bin/cmake /root/Catkin/LOL/src/laser_slam/laser_slam_ros --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/root/Catkin/LOL/devel -DCMAKE_INSTALL_PREFIX=/root/Catkin/LOL/install -DCMAKE_BUILD_TYPE=Release; cd -

......................................................................................................
Finished <<< laser_slam_ros [ 3.3 seconds ]

---

Warnings << segmatch:make /root/Catkin/LOL/logs/segmatch/build.make.001.log
warning: Tag XML_SCHEMA' at line 1796 of file /root/Catkin/LOL/build/segmatch/Doxyfile' has become obsolete.
To avoid this warning please remove this line from your configuration file or upgrade it using "doxygen -u"
warning: Tag XML_DTD' at line 1802 of file /root/Catkin/LOL/build/segmatch/Doxyfile' has become obsolete.
To avoid this warning please remove this line from your configuration file or upgrade it using "doxygen -u"
cd /root/Catkin/LOL/build/segmatch; catkin build --get-env segmatch | catkin env -si /usr/bin/make --jobserver-fds=3,4 -j; cd -

......................................................................................................
Finished <<< segmatch [ 3.3 seconds ]
Starting >>> segmatch_ros

---

Warnings << segmatch_ros:cmake /root/Catkin/LOL/logs/segmatch_ros/build.cmake.001.log
** WARNING ** io features related to openni2 will be disabled
** WARNING ** io features related to ensenso will be disabled
** WARNING ** io features related to davidSDK will be disabled
** WARNING ** io features related to dssdk will be disabled
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
** WARNING ** io features related to libusb-1.0 will be disabled
** WARNING ** visualization features related to openni2 will be disabled
** WARNING ** visualization features related to ensenso will be disabled
** WARNING ** visualization features related to davidSDK will be disabled
** WARNING ** visualization features related to dssdk will be disabled
** WARNING ** visualization features related to rssdk will be disabled
cd /root/Catkin/LOL/build/segmatch_ros; catkin build --get-env segmatch_ros | catkin env -si /usr/bin/cmake /root/Catkin/LOL/src/segmap/segmatch_ros --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/root/Catkin/LOL/devel -DCMAKE_INSTALL_PREFIX=/root/Catkin/LOL/install -DCMAKE_BUILD_TYPE=Release; cd -

......................................................................................................
Finished <<< segmatch_ros [ 2.1 seconds ]
Starting >>> segmapper

---

Warnings << segmapper:cmake /root/Catkin/LOL/logs/segmapper/build.cmake.001.log
** WARNING ** io features related to openni2 will be disabled
** WARNING ** io features related to ensenso will be disabled
** WARNING ** io features related to davidSDK will be disabled
** WARNING ** io features related to dssdk will be disabled
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
** WARNING ** io features related to libusb-1.0 will be disabled
** WARNING ** visualization features related to openni2 will be disabled
** WARNING ** visualization features related to ensenso will be disabled
** WARNING ** visualization features related to davidSDK will be disabled
** WARNING ** visualization features related to dssdk will be disabled
** WARNING ** visualization features related to rssdk will be disabled
cd /root/Catkin/LOL/build/segmapper; catkin build --get-env segmapper | catkin env -si /usr/bin/cmake /root/Catkin/LOL/src/segmap/segmapper --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/root/Catkin/LOL/devel -DCMAKE_INSTALL_PREFIX=/root/Catkin/LOL/install -DCMAKE_BUILD_TYPE=Release; cd -

......................................................................................................

---

Warnings << segmapper:make /root/Catkin/LOL/logs/segmapper/build.make.001.log
In file included from /root/Catkin/LOL/devel/include/pointmatcher/PointMatcher.h:63:0,
from /root/Catkin/LOL/src/laser_slam/laser_slam/include/laser_slam/common.hpp:10,
from /root/Catkin/LOL/src/laser_slam/laser_slam/include/laser_slam/incremental_estimator.hpp:10,
from /root/Catkin/LOL/src/segmap/segmapper/include/segmapper/segmapper.hpp:9,
from /root/Catkin/LOL/src/segmap/segmapper/src/segmapper.cpp:1:
/root/Catkin/LOL/devel/include/pointmatcher/Parametrizable.h:46:0: warning: "BOOST_ASSIGN_MAX_PARAMS" redefined
#define BOOST_ASSIGN_MAX_PARAMS 6
^
In file included from /root/Catkin/LOL/devel/include/gtsam/nonlinear/NonlinearFactor.h:30:0,
from /root/Catkin/LOL/devel/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
from /root/Catkin/LOL/devel/include/gtsam/nonlinear/ISAM2.h:22,
from /root/Catkin/LOL/src/laser_slam/laser_slam/include/laser_slam/incremental_estimator.hpp:7,
from /root/Catkin/LOL/src/segmap/segmapper/include/segmapper/segmapper.hpp:9,
from /root/Catkin/LOL/src/segmap/segmapper/src/segmapper.cpp:1:
/usr/include/boost/assign/list_of.hpp:378:0: note: this is the location of the previous definition
#define BOOST_ASSIGN_MAX_PARAMS 5
^
In file included from /root/Catkin/LOL/devel/include/pcl-1.8/pcl/sample_consensus/sac_model.h:52:0,
from /root/Catkin/LOL/devel/include/pcl-1.8/pcl/sample_consensus/sac.h:45,
from /root/Catkin/LOL/devel/include/pcl-1.8/pcl/sample_consensus/ransac.h:44,
from /root/Catkin/LOL/devel/include/pcl-1.8/pcl/registration/icp.h:45,
from /root/Catkin/LOL/src/segmap/segmatch/include/segmatch/segmatch.hpp:23,
from /root/Catkin/LOL/src/segmap/segmatch_ros/include/segmatch_ros/common.hpp:16,
from /root/Catkin/LOL/src/segmap/segmapper/include/segmapper/segmapper.hpp:13,
from /root/Catkin/LOL/src/segmap/segmapper/src/segmapper.cpp:1:
/root/Catkin/LOL/devel/include/pcl-1.8/pcl/sample_consensus/model_types.h: In function 'void __static_initialization_and_destruction_0(int, int)':
/root/Catkin/LOL/devel/include/pcl-1.8/pcl/sample_consensus/model_types.h:99:3: warning: 'pcl::SAC_SAMPLE_SIZE' is deprecated: This map is deprecated and is kept only to prevent breaking existing user code. Starting from PCL 1.8.0 model sample size is a protected member of the SampleConsensusModel class [-Wdeprecated-declarations]
SAC_SAMPLE_SIZE (sample_size_pairs, sample_size_pairs + sizeof (sample_size_pairs) / sizeof (SampleSizeModel));
^
/root/Catkin/LOL/devel/include/pcl-1.8/pcl/sample_consensus/model_types.h:99:3: note: declared here
In file included from /root/Catkin/LOL/devel/include/pointmatcher/PointMatcher.h:63:0,
from /root/Catkin/LOL/src/laser_slam/laser_slam/include/laser_slam/common.hpp:10,
from /root/Catkin/LOL/src/laser_slam/laser_slam/include/laser_slam/incremental_estimator.hpp:10,
from /root/Catkin/LOL/src/segmap/segmapper/include/segmapper/segmapper.hpp:9,
from /root/Catkin/LOL/src/segmap/segmapper/src/segmapper_node.cpp:5:
/root/Catkin/LOL/devel/include/pointmatcher/Parametrizable.h:46:0: warning: "BOOST_ASSIGN_MAX_PARAMS" redefined
#define BOOST_ASSIGN_MAX_PARAMS 6
^
In file included from /root/Catkin/LOL/devel/include/gtsam/nonlinear/NonlinearFactor.h:30:0,
from /root/Catkin/LOL/devel/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
from /root/Catkin/LOL/devel/include/gtsam/nonlinear/ISAM2.h:22,
from /root/Catkin/LOL/src/laser_slam/laser_slam/include/laser_slam/incremental_estimator.hpp:7,
from /root/Catkin/LOL/src/segmap/segmapper/include/segmapper/segmapper.hpp:9,
from /root/Catkin/LOL/src/segmap/segmapper/src/segmapper_node.cpp:5:
/usr/include/boost/assign/list_of.hpp:378:0: note: this is the location of the previous definition
#define BOOST_ASSIGN_MAX_PARAMS 5
^
In file included from /root/Catkin/LOL/devel/include/pcl-1.8/pcl/sample_consensus/sac_model.h:52:0,
from /root/Catkin/LOL/devel/include/pcl-1.8/pcl/sample_consensus/sac.h:45,
from /root/Catkin/LOL/devel/include/pcl-1.8/pcl/sample_consensus/ransac.h:44,
from /root/Catkin/LOL/devel/include/pcl-1.8/pcl/registration/icp.h:45,
from /root/Catkin/LOL/src/segmap/segmatch/include/segmatch/segmatch.hpp:23,
from /root/Catkin/LOL/src/segmap/segmatch_ros/include/segmatch_ros/common.hpp:16,
from /root/Catkin/LOL/src/segmap/segmapper/include/segmapper/segmapper.hpp:13,
from /root/Catkin/LOL/src/segmap/segmapper/src/segmapper_node.cpp:5:
/root/Catkin/LOL/devel/include/pcl-1.8/pcl/sample_consensus/model_types.h: In function 'void __static_initialization_and_destruction_0(int, int)':
/root/Catkin/LOL/devel/include/pcl-1.8/pcl/sample_consensus/model_types.h:99:3: warning: 'pcl::SAC_SAMPLE_SIZE' is deprecated: This map is deprecated and is kept only to prevent breaking existing user code. Starting from PCL 1.8.0 model sample size is a protected member of the SampleConsensusModel class [-Wdeprecated-declarations]
SAC_SAMPLE_SIZE (sample_size_pairs, sample_size_pairs + sizeof (sample_size_pairs) / sizeof (SampleSizeModel));
^
/root/Catkin/LOL/devel/include/pcl-1.8/pcl/sample_consensus/model_types.h:99:3: note: declared here
cd /root/Catkin/LOL/build/segmapper; catkin build --get-env segmapper | catkin env -si /usr/bin/make --jobserver-fds=3,4 -j; cd -

......................................................................................................
Finished <<< segmapper [ 48.0 seconds ]
[build] Summary: All 22 packages succeeded!
[build] Ignored: 11 packages were skipped or are blacklisted.
[build] Warnings: 8 packages succeeded with warnings.
[build] Abandoned: None.
[build] Failed: None.
[build] Runtime: 1 minute and 9.1 seconds total.
Exception ignored in: <bound method BaseEventLoop.del of <_UnixSelectorEventLoop running=False closed=True debug=False>>
Traceback (most recent call last):
File "/usr/lib/python3.5/asyncio/base_events.py", line 431, in del
File "/usr/lib/python3.5/asyncio/unix_events.py", line 58, in close
File "/usr/lib/python3.5/asyncio/unix_events.py", line 139, in remove_signal_handler
File "/usr/lib/python3.5/signal.py", line 47, in signal
TypeError: signal handler must be signal.SIG_IGN, signal.SIG_DFL, or a callable object
root@jeff-laptop:~/Catkin/LOL# catkin build loam_velodyne

Profile: default
Extending: [cached] /opt/ros/kinetic
Workspace: /root/Catkin/LOL

Build Space: [exists] /root/Catkin/LOL/build
Devel Space: [exists] /root/Catkin/LOL/devel
Install Space: [unused] /root/Catkin/LOL/install
Log Space: [exists] /root/Catkin/LOL/logs
Source Space: [exists] /root/Catkin/LOL/src
DESTDIR: [unused] None

Devel Space Layout: merged
Install Space Layout: None

Additional CMake Args: -DCMAKE_BUILD_TYPE=Release
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False

Whitelisted Packages: None
Blacklisted Packages: None

Workspace configuration appears valid.

[build] Found '33' packages in 0.0 seconds.
[build] Updating package table.
Starting >>> loam_velodyne

---

Warnings << loam_velodyne:cmake /root/Catkin/LOL/logs/loam_velodyne/build.cmake.000.log
** WARNING ** io features related to openni2 will be disabled
** WARNING ** io features related to ensenso will be disabled
** WARNING ** io features related to davidSDK will be disabled
** WARNING ** io features related to dssdk will be disabled
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
** WARNING ** io features related to libusb-1.0 will be disabled
** WARNING ** visualization features related to openni2 will be disabled
** WARNING ** visualization features related to ensenso will be disabled
** WARNING ** visualization features related to davidSDK will be disabled
** WARNING ** visualization features related to dssdk will be disabled
** WARNING ** visualization features related to rssdk will be disabled
cd /root/Catkin/LOL/build/loam_velodyne; catkin build --get-env loam_velodyne | catkin env -si /usr/bin/cmake /root/Catkin/LOL/src/loam_velodyne --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/root/Catkin/LOL/devel -DCMAKE_INSTALL_PREFIX=/root/Catkin/LOL/install -DCMAKE_BUILD_TYPE=Release; cd -

......................................................................................................
Finished <<< loam_velodyne [ 34.7 seconds ]
[build] Summary: All 1 packages succeeded!
[build] Ignored: 32 packages were skipped or are blacklisted.
[build] Warnings: 1 packages succeeded with warnings.
[build] Abandoned: None.
[build] Failed: None.
[build] Runtime: 34.8 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.
Exception ignored in: <bound method BaseEventLoop.del of <_UnixSelectorEventLoop running=False closed=True debug=False>>
Traceback (most recent call last):
File "/usr/lib/python3.5/asyncio/base_events.py", line 431, in del
File "/usr/lib/python3.5/asyncio/unix_events.py", line 58, in close
File "/usr/lib/python3.5/asyncio/unix_events.py", line 139, in remove_signal_handler
File "/usr/lib/python3.5/signal.py", line 47, in signal
TypeError: signal handler must be signal.SIG_IGN, signal.SIG_DFL, or a callable object

Error with the directory messeges.

---

[ INFO] [1634015868.523645916]: Opening /root/.segmap/kitti/2011_09_30_drive_18_velodynepoints_clock.bag

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.
Roslaunch got a 'No such file or directory' error while attempting to run:

gdb -ex run --args /root/Catkin/LOL/devel/lib/segmapper/segmapper_node __name:=segmapper __log:=/root/.ros/log/bc5816f0-2b1b-11ec-9c94-e86a64425b4b/segmapper-3.log

Please make sure that all the executables in this command exist and have
executable permission. This is often caused by a bad launch-prefix.
The traceback for the exception was written to the log file

Location tree of the Catkin.

ERROR in config: unknown url type: segmap/dependencies.rosinstall

Hello! I had a problem cloning the code. When I cloned the project ：

`iairloc@iairloc:~/Catkin/LOL$ wstool init
Writing /home/iairloc/Catkin/LOL/.rosinstall

update complete.
iairloc@iairloc:~ /Catkin/LOL$ wstool merge segmap/dependencies.rosinstall
ERROR in config: Is not a local file, nor a valid URL [segmap/dependencies.rosinstall] : unknown url type: segmap/dependencies.rosinstall
iairloc@iairloc:~ /Catkin/LOL$ wstool merge segmap/dependencies.rosinstall
ERROR in config: Is not a local file, nor a valid URL [segmap/dependencies.rosinstall] : unknown url type: segmap/dependencies.rosinstall`

So clould you please help me solve this problem？Thanks a lot！

How to obtain a priori point cloud map

The work is excellent.But I have a problem,How to obtain a priori point cloud map?If used the LOAM to build prior point cloud map,it's not accurate.

About the code compiling under ubuntu18

The work is excellent.But I compiled the code,there were some problems(catkin build segmapper).My environment :
cuda9.0+cudnn7.1+gcc4.8.5.

Compatibility with robosense RS-LIDAR-16

Anyone has tested with lidars with few scan lines such as RS-LIDAR-16? Thanks!

Local map don't update after first few scan.

Hello @RozDavid,

Now I can run the demo on kitti dataset, and it has a good performance. But when I try to run it on our rosbag, I find the local map don't update after first few scan. Like the following picture:

rosrun tf view_frame result is:

Another question is: in the kitti_loam_segmap.launch there is a line: <node pkg="tf2_ros" type="static_transform_publisher" name="static_broadcaster" args="0 0 0 0.5 0.5 0.5 0.5 world imu_new" />. What is it used for?

compile error in ubuntu18

When I compile catkin build tensorflow_ros_cpp have the error, maybe the problem with my cuda or other environments? But I don't know how to do beside switch to the ubuntu16.
Ubuntu18.04 CUDA :10.2 CUDNN:8.2.0.53 tensorflow:1.5-GPU

How to make offline map?

Hi, I have a small question. How did you make offline map(which can be downloaded from dropbox)? by LOAM?

can not download the rosbag ?

Something wrong with Segmap

Hi @RozDavid ,

Thanks for your outstanding work. I have successfully built segmapper and loam_velodyne. But when I try to run the demo, each time the segmapper process would die. The error information are as followed:

[ WARN] [1610421711.405021814, 1317376479.456800773]: [SegMapper] Timeout while waiting between world and velodyne.
[segmapper-3] process has died [pid 14145, exit code -11, cmd /home/yutouwd/workspace/segmap/devel/lib/segmapper/segmapper_node __name:=segmapper __log:=/home/yutouwd/.ros/log/d5994fce-5481-11eb-8a50-a402b9ca85e1/segmapper-3.log].
log file: /home/yutouwd/.ros/log/d5994fce-5481-11eb-8a50-a402b9ca85e1/segmapper-3*.log

I'm using Ubuntu 16.04 and Cuda version is 9.0, Cudnn version is 7.0. Could you give some suggestions on how to fix this bug? Thank you so much.

Can not find rviz file

in segmap/segmapper/launch/kitti/cnn_loam_segmap.launch ,I can find the'' Rviz visualization config file''. can you give me the rivz file.

Error with CNN Launch file. [segmapper-2] process has died

@RozDavid Thanks alot for your work again. I tried to learn both kitti and cnn launch files and Kitti one did great job on my environment too. On the other hand, cnn based version stops here. Do you have any idea with it? Thanks a lot.

root@jeff-laptop:/# roslaunch segmapper cnn_loam_segmap.launch
... logging to /root/.ros/log/7d25cbd2-2d7b-11ec-a336-e86a64425b4b/roslaunch-jeff-laptop-23047.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://jeff-laptop:34109/

SUMMARY

PARAMETERS

• /SegMapper/Benchmarker/enable_live_output: False
• /SegMapper/Benchmarker/results_directory: /tmp/segmap_bench...
• /SegMapper/Benchmarker/save_statistics_only: False
• /SegMapper/LaserSlamWorker/assembled_cloud_sub_topic: /velodyne_cloud_s...
• /SegMapper/LaserSlamWorker/create_filtered_map: True
• /SegMapper/LaserSlamWorker/distant_map_pub_topic: distant_map
• /SegMapper/LaserSlamWorker/full_map_pub_topic: full_map
• /SegMapper/LaserSlamWorker/local_map_pub_topic: local_map
• /SegMapper/LaserSlamWorker/map_publication_rate_hz: 3
• /SegMapper/LaserSlamWorker/odom_frame: world
• /SegMapper/LaserSlamWorker/odometry_trajectory_pub_topic: odometry_trajectory
• /SegMapper/LaserSlamWorker/path_to_export_trajectory: /tmp/loam-segmap/...
• /SegMapper/LaserSlamWorker/publish_distant_map: False
• /SegMapper/LaserSlamWorker/publish_full_map: False
• /SegMapper/LaserSlamWorker/publish_local_map: True
• /SegMapper/LaserSlamWorker/sensor_frame: aft_mapped
• /SegMapper/LaserSlamWorker/trajectory_pub_topic: trajectory
• /SegMapper/LaserSlamWorker/use_odometry_information: True
• /SegMapper/OnlineEstimator/LaserTrack/add_m_estimator_on_icp: False
• /SegMapper/OnlineEstimator/LaserTrack/add_m_estimator_on_odom: False
• /SegMapper/OnlineEstimator/LaserTrack/force_priors: False
• /SegMapper/OnlineEstimator/LaserTrack/icp_noise_model: [0.5, 0.05, 0.05,...
• /SegMapper/OnlineEstimator/LaserTrack/nscan_in_sub_map: 5
• /SegMapper/OnlineEstimator/LaserTrack/nscan_to_match: 3
• /SegMapper/OnlineEstimator/LaserTrack/odometry_noise_model: [0.5, 0.5, 0.5, 0...
• /SegMapper/OnlineEstimator/LaserTrack/save_icp_results: False
• /SegMapper/OnlineEstimator/LaserTrack/use_icp_factors: False
• /SegMapper/OnlineEstimator/LaserTrack/use_odom_factors: True
• /SegMapper/OnlineEstimator/add_m_estimator_on_loop_closures: True
• /SegMapper/OnlineEstimator/do_icp_step_on_loop_closures: False
• /SegMapper/OnlineEstimator/loop_closure_noise_model: [0.0005, 0.0005, ...
• /SegMapper/OnlineEstimator/loop_closures_sub_maps_radius: 3
• /SegMapper/SegMatchWorker/SegMatch/Classifier/apply_hard_threshold_on_feature_distance: False
• /SegMapper/SegMatchWorker/SegMatch/Classifier/do_not_use_cars: True
• /SegMapper/SegMatchWorker/SegMatch/Classifier/enable_two_stage_retrieval: False
• /SegMapper/SegMatchWorker/SegMatch/Classifier/feature_distance_threshold: 100
• /SegMapper/SegMatchWorker/SegMatch/Classifier/knn_feature_dim: 64
• /SegMapper/SegMatchWorker/SegMatch/Classifier/max_distance_for_accepting_matches: 50.0
• /SegMapper/SegMatchWorker/SegMatch/Classifier/max_eigen_features_values: [2493.5, 186681.0...
• /SegMapper/SegMatchWorker/SegMatch/Classifier/n_nearest_neighbours: 120
• /SegMapper/SegMatchWorker/SegMatch/Classifier/normalize_eigen_for_hard_threshold: False
• /SegMapper/SegMatchWorker/SegMatch/Classifier/normalize_eigen_for_knn: False
• /SegMapper/SegMatchWorker/SegMatch/Classifier/threshold_to_accept_match: 0.3
• /SegMapper/SegMatchWorker/SegMatch/Descriptors/cnn_model_path: /root/.segmap/tra...
• /SegMapper/SegMatchWorker/SegMatch/Descriptors/descriptor_types: ['CNN', 'Eigenval...
• /SegMapper/SegMatchWorker/SegMatch/Descriptors/semantics_nn_path: /root/.segmap/tra...
• /SegMapper/SegMatchWorker/SegMatch/GeometricConsistency/max_consistency_distance_for_caching: 10.0
• /SegMapper/SegMatchWorker/SegMatch/GeometricConsistency/min_cluster_size: 4
• /SegMapper/SegMatchWorker/SegMatch/GeometricConsistency/recognizer_type: Incremental
• /SegMapper/SegMatchWorker/SegMatch/GeometricConsistency/resolution: 0.4
• /SegMapper/SegMatchWorker/SegMatch/LocalMap/max_vertical_distance_m: 999.0
• /SegMapper/SegMatchWorker/SegMatch/LocalMap/min_points_per_voxel: 1
• /SegMapper/SegMatchWorker/SegMatch/LocalMap/min_vertical_distance_m: -999.0
• /SegMapper/SegMatchWorker/SegMatch/LocalMap/neighbors_provider_type: KdTree
• /SegMapper/SegMatchWorker/SegMatch/LocalMap/radius_m: 50
• /SegMapper/SegMatchWorker/SegMatch/LocalMap/voxel_size_m: 0.1
• /SegMapper/SegMatchWorker/SegMatch/Segmenters/max_cluster_size: 15000
• /SegMapper/SegMatchWorker/SegMatch/Segmenters/min_cluster_size: 100
• /SegMapper/SegMatchWorker/SegMatch/Segmenters/radius_for_growing: 0.2
• /SegMapper/SegMatchWorker/SegMatch/Segmenters/segmenter_type: IncrementalEuclid...
• /SegMapper/SegMatchWorker/SegMatch/boundary_radius_m: 999.0
• /SegMapper/SegMatchWorker/SegMatch/centroid_distance_threshold_m: 2
• /SegMapper/SegMatchWorker/SegMatch/check_pose_lies_below_segments: False
• /SegMapper/SegMatchWorker/SegMatch/filter_boundary_segments: True
• /SegMapper/SegMatchWorker/SegMatch/filter_duplicate_segments: True
• /SegMapper/SegMatchWorker/SegMatch/min_time_between_segment_for_matches_s: 0
• /SegMapper/SegMatchWorker/SegMatch/segmentation_height_above_m: 999.0
• /SegMapper/SegMatchWorker/SegMatch/segmentation_height_below_m: 999.0
• /SegMapper/SegMatchWorker/SegMatch/segmentation_radius_m: 50.0
• /SegMapper/SegMatchWorker/align_target_map_on_first_loop_closure: False
• /SegMapper/SegMatchWorker/close_loops: False
• /SegMapper/SegMatchWorker/distance_between_segmentations_m: 0.0
• /SegMapper/SegMatchWorker/distance_to_lower_target_cloud_for_viz_m: 25.0
• /SegMapper/SegMatchWorker/export_segments_and_matches: True
• /SegMapper/SegMatchWorker/line_scale_loop_closures: 5.0
• /SegMapper/SegMatchWorker/line_scale_matches: 0.4
• /SegMapper/SegMatchWorker/localize: True
• /SegMapper/SegMatchWorker/min_time_between_matches_s: 1
• /SegMapper/SegMatchWorker/publish_predicted_segment_matches: False
• /SegMapper/SegMatchWorker/ransac_max_iterations: 1000
• /SegMapper/SegMatchWorker/ransac_outlier_trashold: 0.25
• /SegMapper/SegMatchWorker/ratio_of_points_to_keep_when_publishing: 1.0
• /SegMapper/SegMatchWorker/save_map_full_path: /tmp/loam-segmap/...
• /SegMapper/SegMatchWorker/target_cloud_filename: /root/.segmap/kit...
• /SegMapper/clear_local_map_after_loop_closure: False
• /SegMapper/number_of_robots: 1
• /SegMapper/publish_world_to_odom: True
• /SegMapper/robot_prefix: na
• /SegMapper/tf_publication_rate_hz: 10
• /SegMapper/world_frame: map
• /laserMapping/scanPeriod: 0.1
• /laserOdometry/scanPeriod: 0.1
• /multiScanRegistration/lidar: HDL-64E
• /multiScanRegistration/scanPeriod: 0.1
• /rosdistro: kinetic
• /rosversion: 1.12.17
• /segmapper/icp_configuration_file: /root/Catkin/LOL/...
• /segmapper/icp_input_filters_file: /root/Catkin/LOL/...
• /use_sim_time: True

NODES
/
laserMapping (loam_velodyne/laserMapping)
laserOdometry (loam_velodyne/laserOdometry)
multiScanRegistration (loam_velodyne/multiScanRegistration)
player (rosbag/play)
segmapper (segmapper/segmapper_node)
static_broadcaster (tf2_ros/static_transform_publisher)
transformMaintenance (loam_velodyne/transformMaintenance)

ROS_MASTER_URI=http://localhost:11311

process[player-1]: started with pid [23064]
[ INFO] [1634292411.984395989]: Opening /root/.segmap/kitti/2011_09_30_drive_18.bag
Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.
process[segmapper-2]: started with pid [23065]
process[static_broadcaster-3]: started with pid [23088]
WARNING: Logging before InitGoogleLogging() is written to STDERR
I1015 10:06:53.645305 23065 segmatch.cpp:27] Do not forget to initialize SegMatch.
I1015 10:06:53.744660 23065 laser_track.cpp:16] Loading ICP configurations from: /root/Catkin/LOL/src/segmap/segmapper/launch/kitti/icp_dynamic_outdoor.yaml
I1015 10:06:53.746557 23065 laser_track.cpp:26] Loading ICP input filters from: /root/Catkin/LOL/src/segmap/segmapper/launch/kitti/input_filters_outdoor.yaml
I1015 10:06:53.747190 23065 incremental_estimator.cpp:31] Creating loop closure noise model with cauchy.
I1015 10:06:53.747244 23065 incremental_estimator.cpp:54] Loading ICP configurations from: /root/Catkin/LOL/src/segmap/segmapper/launch/kitti/icp_dynamic_outdoor.yaml
[ INFO] [1634292413.749479821]: Number of laser_slam workers: 1
I1015 10:06:53.749758 23065 segmapper.cpp:86] Robot 0 subscribes to /velodyne_cloud_segmatch world and aft_mapped
I1015 10:06:53.749797 23065 segmapper.cpp:89] Robot 0 publishes to trajectory and local_map
I1015 10:06:53.770653 23065 cnn.hpp:20] Loading CNN model in /root/.segmap/trained_models/segmap64/
2021-10-15 10:06:53.770740: I /root/Catkin/LOL/src/segmap/tf_graph_executor/src/tf_graph_executor.cpp:17] Entering TensorflowGraphExecutor with path /root/.segmap/trained_models/segmap64/model.ckpt.meta
2021-10-15 10:06:53.902945: I tensorflow/stream_executor/cuda/cuda_gpu_executor.cc:898] successful NUMA node read from SysFS had negative value (-1), but there must be at least one NUMA node, so returning NUMA node zero
2021-10-15 10:06:53.903578: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1356] Found device 0 with properties:
name: GeForce GTX 1060 major: 6 minor: 1 memoryClockRate(GHz): 1.6705
pciBusID: 0000:01:00.0
totalMemory: 5.94GiB freeMemory: 5.02GiB
2021-10-15 10:06:53.903614: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1435] Adding visible gpu devices: 0
process[multiScanRegistration-4]: started with pid [23089]
[ INFO] [1634292414.325236902]: Set scanPeriod: 0.1
[ INFO] [1634292414.344890556]: Set HDL-64E scan mapper.
process[laserOdometry-5]: started with pid [23286]
[ INFO] [1634292415.039679347]: Set scanPeriod: 0.1
2021-10-15 10:06:55.565654: I tensorflow/core/common_runtime/gpu/gpu_device.cc:923] Device interconnect StreamExecutor with strength 1 edge matrix:
2021-10-15 10:06:55.565695: I tensorflow/core/common_runtime/gpu/gpu_device.cc:929] 0
2021-10-15 10:06:55.565711: I tensorflow/core/common_runtime/gpu/gpu_device.cc:942] 0: N
2021-10-15 10:06:55.565977: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1053] Created TensorFlow device (/job:localhost/replica:0/task:0/device:GPU:0 with 4786 MB memory) -> physical GPU (device: 0, name: GeForce GTX 1060, pci bus id: 0000:01:00.0, compute capability: 6.1)
process[laserMapping-6]: started with pid [23333]
2021-10-15 10:06:55.653823: I /root/Catkin/LOL/src/segmap/tf_graph_executor/src/tf_graph_executor.cpp:26] calling custom function
2021-10-15 10:06:55.660305: I /root/Catkin/LOL/src/segmap/tf_graph_executor/src/tf_graph_executor.cpp:28] Custom function called
2021-10-15 10:06:55.696094: I /root/Catkin/LOL/src/segmap/tf_graph_executor/src/tf_graph_executor.cpp:41] Loading checkpoint /root/.segmap/trained_models/segmap64/model.ckpt
GNU gdb (Ubuntu 7.11.1-0ubuntu1~16.5) 7.11.1
Copyright (C) 2016 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law. Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
http://www.gnu.org/software/gdb/bugs/.
Find the GDB manual and other documentation resources online at:
http://www.gnu.org/software/gdb/documentation/.
For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from /root/Catkin/LOL/devel/lib/loam_velodyne/laserMapping...(no debugging symbols found)...done.
Starting program: /root/Catkin/LOL/devel/lib/loam_velodyne/laserMapping __name:=laserMapping __log:=/root/.ros/log/7d25cbd2-2d7b-11ec-a336-e86a64425b4b/laserMapping-6.log
warning: Error disabling address space randomization: Operation not permitted
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Invalid argument]
I1015 10:06:55.903869 23065 cnn.hpp:38] Loading semantics model in /root/.segmap/trained_models/segmap64_semantics/
2021-10-15 10:06:55.903902: I /root/Catkin/LOL/src/segmap/tf_graph_executor/src/tf_graph_executor.cpp:17] Entering TensorflowGraphExecutor with path /root/.segmap/trained_models/segmap64_semantics/model.ckpt.meta
2021-10-15 10:06:55.903980: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1435] Adding visible gpu devices: 0
2021-10-15 10:06:55.904023: I tensorflow/core/common_runtime/gpu/gpu_device.cc:923] Device interconnect StreamExecutor with strength 1 edge matrix:
2021-10-15 10:06:55.904049: I tensorflow/core/common_runtime/gpu/gpu_device.cc:929] 0
2021-10-15 10:06:55.904070: I tensorflow/core/common_runtime/gpu/gpu_device.cc:942] 0: N
2021-10-15 10:06:55.904222: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1053] Created TensorFlow device (/job:localhost/replica:0/task:0/device:GPU:0 with 4786 MB memory) -> physical GPU (device: 0, name: GeForce GTX 1060, pci bus id: 0000:01:00.0, compute capability: 6.1)
2021-10-15 10:06:55.904489: I /root/Catkin/LOL/src/segmap/tf_graph_executor/src/tf_graph_executor.cpp:26] calling custom function
2021-10-15 10:06:55.905730: I /root/Catkin/LOL/src/segmap/tf_graph_executor/src/tf_graph_executor.cpp:28] Custom function called
2021-10-15 10:06:55.910175: I /root/Catkin/LOL/src/segmap/tf_graph_executor/src/tf_graph_executor.cpp:41] Loading checkpoint /root/.segmap/trained_models/segmap64_semantics/model.ckpt
I1015 10:06:55.919739 23065 cnn.hpp:43] Loaded all TensorFlow models.
[ INFO] [1634292415.939343211, 1317376479.232045294]: Loading target cloud.
I1015 10:06:55.939399 23065 utilities.hpp:24] Loading cloud: /root/.segmap/kitti/drive18_target_map.pcd.
Failed to find match for field 'ed_cluster_id'.
Failed to find match for field 'sc_cluster_id'.
process[transformMaintenance-7]: started with pid [23399]
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[tcsetpgrp failed in terminal_inferior: Invalid argument]
[tcsetpgrp failed in terminal_inferior: Invalid argument]
[New Thread 0x7f1b4dc5a700 (LWP 23490)]
[New Thread 0x7f1b4d459700 (LWP 23491)]
[New Thread 0x7f1b4cc58700 (LWP 23492)]
[New Thread 0x7f1b47fff700 (LWP 23504)]
[ INFO] [1634292419.279634124]: Set scanPeriod: 0.1
I1015 10:07:24.746826 23065 segmatch.cpp:202] Removing too near segments from source map.
[FATAL] [1634292448.374863591, 1317376479.232045294]: Target Cloud processed
[FATAL] [1634292448.374909806, 1317376479.232045294]: Target Set
[segmapper-2] process has died [pid 23065, exit code -11, cmd /root/Catkin/LOL/devel/lib/segmapper/segmapper_node __name:=segmapper __log:=/root/.ros/log/7d25cbd2-2d7b-11ec-a336-e86a64425b4b/segmapper-2.log].
log file: /root/.ros/log/7d25cbd2-2d7b-11ec-a336-e86a64425b4b/segmapper-2*.log

segmapper node : Roslaunch got a 'No such file or directory' error while attempting to run

Thanks @RozDavid for the work again, and I figured out I have a problem with segmapper node.
when I launched the file name of kitti_loam_segmap.launch ,
the error occurs like this.

Roslaunch got a 'No such file or directory' error while attempting to run:

gdb -ex run --args /root/Catkin/LOL/devel/lib/segmapper/segmapper_node __name:=segmapper __log:=/root/.ros/log/697f507e-2b2a-11ec-bcd7-e86a64425b4b/segmapper-2.log

Please make sure that all the executables in this command exist and have
executable permission. This is often caused by a bad launch-prefix.
The traceback for the exception was written to the log file

so I tested launching the launch file without segmapper node, it goes well. Maybe only the LOAM I guess.

Any idea for this?

Sincerely, Jeff.

About the installation.

I am trying to use the 'LOL' as well.

But I could not even suceed to install it all.

I would like to ask about the version that you have used.

Currently I am trying with the cuda 10.0 and cudnn 7.4.2.

Installed tensorflow-gpu 1.14.0 and I could not finish the build.

I didn't not used the virtual environment.

Could you give any kind of help please?

Thanks for your work.

Where is the paper download?

Hi, I am a Ph.D. studying in LiDAR localization, I am very interested in your paper, but I do not know where I can download your paper, so, could you sent your paper to me by email([email protected]), thank you very much!

misalignment between map and source

as you can see on the image, the target point cloud and source representation are not perfectly aligned. Do you think I doing something wrong or do you have any idea that justifies this result? And I am always getting this fatal error during runtime as shown on the second image. Do you think it is normal?

How to obtain the robot location inferred by LOL?

Hi @RozDavid,

Thanks for providing such great work.

I have one question:
For LOL, how do you obtain the real-time robot location inferred by LOL? Did you get it by echo the tf relationship between the /base_link and /map, say rosrun tf tf_echo /map /base_link? Or is there any rostopic that I can check?

Thanks and Best Regards,
William

Compile the code have many problem

hi,

Thank you for your code, but i am confuse about that:

when I run "catkin build segmapper" , and it is ERROR 👍 th
/home/zed/Catkin/LOL/src/laser_slam/laser_slam/include/laser_slam/common.hpp:147:83: error: cannot convert ‘std::shared_ptr<PointMatcher::Transformation>’ to ‘PointMatcher::Transformation*’ in initialization
PointMatcher::get().REG(Transformation).create("RigidTransformation");

Thank you again for your outstanding contribution to the community, looking forward to your reply!

the command：wstool update return this:

wstool update
Prepare updating https://github.com/ethz-asl/laser_slam.git (version None) to /Catkin/LOL/src/LOL/laser_slam
Failed to detect git presence at /home/njujwh/Catkin/LOL/src/LOL/laser_slam.
(d)elete and replace, (a)bort, (b)ackup and replace, (s)kip:

eigen-download error

Hi David, thanks for sharing your wonderful work!
Unfortunately I was not able to compile it. When I try "catkin build tensorflow_ros_cpp --cmake-args -DFORCE_TF_PIP_SEARCH="ON" ", the error below always pops out:

         --- LOG END ---
         error: downloading 'https://bitbucket.org/eigen/eigen/get/e5e305a158a0.tar.gz' failed
         status_code: 22
         status_string: "HTTP response code said error"
         log:
         --- LOG BEGIN ---
           Trying 104.192.141.1...

  TCP_NODELAY set

  Connected to bitbucket.org (104.192.141.1) port 443 (#0)

  ALPN, offering http/1.1

  successfully set certificate verify locations:

    CAfile: /etc/ssl/certs/ca-certificates.crt
    CApath: /etc/ssl/certs

  [5 bytes data]

  TLSv1.3 (OUT), TLS handshake, Client hello (1):

  [512 bytes data]

  [5 bytes data]

  TLSv1.3 (IN), TLS handshake, Server hello (2):

  [88 bytes data]

  [5 bytes data]

  TLSv1.3 (OUT), TLS change cipher, Change cipher spec (1):

  [1 bytes data]

  [5 bytes data]

  TLSv1.3 (OUT), TLS handshake, Client hello (1):

  [512 bytes data]

  [5 bytes data]

  [5 bytes data]

  TLSv1.3 (IN), TLS handshake, Server hello (2):

  [155 bytes data]

  [5 bytes data]

  TLSv1.3 (IN), TLS handshake, [no content] (0):

  [1 bytes data]

  TLSv1.3 (IN), TLS handshake, Encrypted Extensions (8):

  [21 bytes data]

  [5 bytes data]

  TLSv1.3 (IN), TLS handshake, [no content] (0):

  [1 bytes data]

  TLSv1.3 (IN), TLS handshake, Certificate (11):

  [2900 bytes data]

  [5 bytes data]

  TLSv1.3 (IN), TLS handshake, [no content] (0):

  [1 bytes data]

  TLSv1.3 (IN), TLS handshake, CERT verify (15):

  [78 bytes data]

  [5 bytes data]

  TLSv1.3 (IN), TLS handshake, [no content] (0):

  [1 bytes data]

  TLSv1.3 (IN), TLS handshake, Finished (20):

  [36 bytes data]

  [5 bytes data]

  TLSv1.3 (OUT), TLS handshake, [no content] (0):

  [1 bytes data]

  TLSv1.3 (OUT), TLS handshake, Finished (20):

  [36 bytes data]

  SSL connection using TLSv1.3 / TLS_AES_128_GCM_SHA256

  ALPN, server accepted to use http/1.1

  Server certificate:

   subject: businessCategory=Private Organization; jurisdictionC=US; jurisdictionST=Delaware; serialNumber=3928449; C=US; ST=California; L=San Francisco; O=Atlassian, Inc.; OU=Bitbucket; CN=bitbucket.org
   start date: Mar 27 00:00:00 2020 GMT
   expire date: May 23 12:00:00 2022 GMT
   subjectAltName: host "bitbucket.org" matched cert's "bitbucket.org"
   issuer: C=US; O=DigiCert Inc; OU=www.digicert.com; CN=DigiCert SHA2 Extended Validation Server CA
   SSL certificate verify ok.

  [5 bytes data]

  TLSv1.3 (OUT), TLS app data, [no content] (0):

  [1 bytes data]

  GET /eigen/eigen/get/e5e305a158a0.tar.gz HTTP/1.1

  Host: bitbucket.org

  User-Agent: curl/7.62.0

  Accept: */*

  

  [5 bytes data]

  TLSv1.3 (IN), TLS handshake, [no content] (0):

  [1 bytes data]

  TLSv1.3 (IN), TLS handshake, Newsession Ticket (4):

  [202 bytes data]

  [5 bytes data]

  TLSv1.3 (IN), TLS app data, [no content] (0):

  [1 bytes data]

  The requested URL returned error: 404 Not Found

  Closing connection 0

  [5 bytes data]

  TLSv1.3 (OUT), TLS alert, [no content] (0):

  [1 bytes data]

  TLSv1.3 (OUT), TLS alert, close notify (256):

  [2 bytes data]


         --- LOG END ---
         

make[5]: *** [eigen/src/eigen-stamp/eigen-download] Error 1
make[4]: *** [CMakeFiles/eigen.dir/all] Error 2
make[3]: *** [all] Error 2
make[2]: *** [tensorflow_src-prefix/src/tensorflow_src-stamp/tensorflow_src-build] Error 2
make[1]: *** [CMakeFiles/tensorflow_src.dir/all] Error 2
make: *** [all] Error 2
cd /home/binpeng/Documents/LOL/build/tensorflow_catkin; catkin build --get-env tensorflow_catkin | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -

How to build tensorflow_ros_cpp?

Hi, I am trying to run your program, but I find it hard to compile tensorflow_ros_cpp. Could you please provide more detailed installation guide for us to follow? I am using ubuntu 16.04, do I have to manually compile tensorflow for this tensorflow_ros_cpp?

Spikes on the vehicle path

Hi @RozDavid,

I've successfully run the LOL on the KITTI dataset, and obtained the correct matching between the input point cloud & the map. However, I noticed there are some spikes along the vehicle path (shown as below), which is quite weird and not normal.

Any possible reason for this?

Thanks and Best Regards,
William