arjunskumar / vins-fusion-gpu-tx2-nano Goto Github PK

another suggestion is to add -b melodic to the git clone of vision_opencv since the current default branch is noetic which causes some compilation issues

thanks for this great repo. i'm just getting started with it, but so far i see that the link to eigen was broken (moved to gitlab). the following two lines in the readme could be updated to reflect this change:

• change wget -O eigen.zip http://bitbucket.org/eigen/eigen/get/3.3.7.zip to wget -O eigen.zip https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.zip
• unzip eigen.zip -d eigen-3.3.7 to unzip eigen.zip

When I try to build cv_bridge, I get this error :

desktop:~/catkin_ws$ catkin_make
Base path: /home/deep-drone/catkin_ws
Source space: /home/deep-drone/catkin_ws/src
Build space: /home/deep-drone/catkin_ws/build
Devel space: /home/deep-drone/catkin_ws/devel
Install space: /home/deep-drone/catkin_ws/install

Running command: "cmake /home/deep-drone/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/deep-drone/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/deep-drone/catkin_ws/install -G Unix Makefiles" in "/home/deep-drone/catkin_ws/build"

-- Using CATKIN_DEVEL_PREFIX: /home/deep-drone/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/melodic
-- This workspace overlays: /opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2")
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/deep-drone/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17")
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 4 packages in topological order:
-- ~~ - opencv_tests
-- ~~ - vision_opencv (metapackage)
-- ~~ - cv_bridge
-- ~~ - image_geometry
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'opencv_tests'
-- ==> add_subdirectory(vision_opencv/opencv_tests)
-- +++ processing catkin metapackage: 'vision_opencv'
-- ==> add_subdirectory(vision_opencv/vision_opencv)
-- +++ processing catkin package: 'cv_bridge'
-- ==> add_subdirectory(vision_opencv/cv_bridge)
-- Found PythonLibs: /usr/lin/x86_64-linux-gnu/libpython2.7.so (found version "2.7.17")
CMake Warning at /usr/share/cmake-3.10/Modules/FindBoost.cmake:1626 (message):
No header defined for python37; skipping header check
Call Stack (most recent call first):
vision_opencv/cv_bridge/CMakeLists.txt:13 (find_package)

-- Boost version: 1.65.1
-- Found the following Boost libraries:
-- python37
-- Found OpenCV: /usr/local (found suitable version "3.4.1", minimum required is "3") found components: opencv_core opencv_imgproc opencv_imgcodecs
-- Found OpenCV: /usr/local (found version "3.4.1") found components: opencv_calib3d opencv_core opencv_cudaarithm opencv_cudabgsegm opencv_cudacodec opencv_cudafeatures2d opencv_cudafilters opencv_cudaimgproc opencv_cudalegacy opencv_cudaobjdetect opencv_cudaoptflow opencv_cudastereo opencv_cudawarping opencv_cudev opencv_dnn opencv_features2d opencv_flann opencv_highgui opencv_imgcodecs opencv_imgproc opencv_ml opencv_objdetect opencv_photo opencv_shape opencv_stitching opencv_superres opencv_video opencv_videoio opencv_videostab
-- Found PythonLibs: /usr/lin/x86_64-linux-gnu/libpython2.7.so (found suitable version "2.7.17", minimum required is "2.7")
-- +++ processing catkin package: 'image_geometry'
-- ==> add_subdirectory(vision_opencv/image_geometry)
-- Found OpenCV: /usr/local (found version "3.4.1")
-- Configuring done
-- Generating done
-- Build files have been written to: /home/deep-drone/catkin_ws/build

Running command: "make -j4 -l4" in "/home/deep-drone/catkin_ws/build"

[ 0%] Built target geometry_msgs_generate_messages_lisp
[ 0%] Built target sensor_msgs_generate_messages_py
[ 0%] Built target sensor_msgs_generate_messages_lisp
[ 0%] Built target sensor_msgs_generate_messages_nodejs
[ 0%] Built target geometry_msgs_generate_messages_eus
[ 0%] Built target std_msgs_generate_messages_py
[ 0%] Built target geometry_msgs_generate_messages_cpp
[ 0%] Built target std_msgs_generate_messages_eus
[ 0%] Built target std_msgs_generate_messages_cpp
[ 0%] Built target geometry_msgs_generate_messages_nodejs
[ 0%] Built target geometry_msgs_generate_messages_py
[ 0%] Built target sensor_msgs_generate_messages_cpp
[ 0%] Built target std_msgs_generate_messages_lisp
[ 0%] Built target std_msgs_generate_messages_nodejs
[ 0%] Built target sensor_msgs_generate_messages_eus
[ 33%] Built target image_geometry
[ 66%] Built target cv_bridge
make[2]: *** No rule to make target '/usr/lin/x86_64-linux-gnu/libpython2.7.so', needed by '/home/deep-drone/catkin_ws/devel/lib/python2.7/dist-packages/cv_bridge/boost/cv_bridge_boost.so'. Stop.
make[2]: *** Waiting for unfinished jobs....
[ 77%] Building CXX object vision_opencv/cv_bridge/src/CMakeFiles/cv_bridge_boost.dir/module_opencv4.cpp.o
[ 88%] Building CXX object vision_opencv/cv_bridge/src/CMakeFiles/cv_bridge_boost.dir/module.cpp.o
In file included from /usr/include/python2.7/numpy/ndarrayobject.h:27:0,
from /home/deep-drone/catkin_ws/src/vision_opencv/cv_bridge/src/module.hpp:26,
from /home/deep-drone/catkin_ws/src/vision_opencv/cv_bridge/src/module_opencv4.cpp:3:
/home/deep-drone/catkin_ws/src/vision_opencv/cv_bridge/src/module.hpp: In function ‘void* do_numpy_import()’:
/usr/include/python2.7/numpy/__multiarray_api.h:1537:144: error: return-statement with no value, in function returning ‘void*’ [-fpermissive]
#define import_array() {if (_import_array() < 0) {PyErr_Print(); PyErr_SetString(PyExc_ImportError, "numpy.core.multiarray failed to import"); return NUMPY_IMPORT_ARRAY_RETVAL; } }
^
/usr/include/python2.7/numpy/__multiarray_api.h:1537:144: note: in definition of macro ‘import_array’
#define import_array() {if (_import_array() < 0) {PyErr_Print(); PyErr_SetString(PyExc_ImportError, "numpy.core.multiarray failed to import"); return NUMPY_IMPORT_ARRAY_RETVAL; } }
^~~~~~
In file included from /usr/include/python2.7/numpy/ndarrayobject.h:27:0,
from /home/deep-drone/catkin_ws/src/vision_opencv/cv_bridge/src/module.hpp:26,
from /home/deep-drone/catkin_ws/src/vision_opencv/cv_bridge/src/module.cpp:35:
/home/deep-drone/catkin_ws/src/vision_opencv/cv_bridge/src/module.hpp: In function ‘void* do_numpy_import()’:
/usr/include/python2.7/numpy/__multiarray_api.h:1537:144: error: return-statement with no value, in function returning ‘void*’ [-fpermissive]
PyErr_SetString(PyExc_ImportError, "numpy.core.multiarray failed to import"); return NUMPY_IMPORT_ARRAY_RETVAL; } }
^
/usr/include/python2.7/numpy/__multiarray_api.h:1537:144: note: in definition of macro ‘import_array’
PyErr_SetString(PyExc_ImportError, "numpy.core.multiarray failed to import"); return NUMPY_IMPORT_ARRAY_RETVAL; } }
^~~~~~
vision_opencv/cv_bridge/src/CMakeFiles/cv_bridge_boost.dir/build.make:86: recipe for target 'vision_opencv/cv_bridge/src/CMakeFiles/cv_bridge_boost.dir/module_opencv4.cpp.o' failed
make[2]: *** [vision_opencv/cv_bridge/src/CMakeFiles/cv_bridge_boost.dir/module_opencv4.cpp.o] Error 1
vision_opencv/cv_bridge/src/CMakeFiles/cv_bridge_boost.dir/build.make:62: recipe for target 'vision_opencv/cv_bridge/src/CMakeFiles/cv_bridge_boost.dir/module.cpp.o' failed
make[2]: *** [vision_opencv/cv_bridge/src/CMakeFiles/cv_bridge_boost.dir/module.cpp.o] Error 1
CMakeFiles/Makefile2:1040: recipe for target 'vision_opencv/cv_bridge/src/CMakeFiles/cv_bridge_boost.dir/all' failed
make[1]: *** [vision_opencv/cv_bridge/src/CMakeFiles/cv_bridge_boost.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

What should I do to solve this problem?

I intalled eigen 3.3.7 and compiled ceres 1.14.0 but when I make test it printed the following message:

_99% tests passed, 1 tests failed out of 127

Total Test time (real) = 338.14 sec

The following tests FAILED:
30 - evaluation_callback_test (Failed)
Errors while running CTest
Makefile:85: recipe for target 'test' failed
make: *** [test] Error 8_

Do you know what's wrong? Thanks a lot

Hello, I compiled all steps successfully, unfortunately, I found the track image had more than a 10-second delay. Does this also happen on your Nano? The usage of all four CPUs reaches above 95%, but GPU is around 50%.

Hi @arjunskumar i followed all your steps when i am running it on D435i i am getting error

nord@enord:~$ rosrun vins vins_node /home/enord/catkin_ws/src/VINS-Fusion-gpu/config/realsense_d435i/realsense_stereo_imu_config.yaml
[ INFO] [1636006477.961505531]: init begins
config_file: /home/enord/catkin_ws/src/VINS-Fusion-gpu/config/realsense_d435i/realsense_stereo_imu_config.yaml
USE_IMU: 1
IMU_TOPIC: /camera/imu
result path /home/enord/output//vio.csv
[ WARN] [1636006478.010063908]: Optimize extrinsic param around initial guess!
camera number 2
[ INFO] [1636006478.021052687]: Unsynchronized sensors, online estimate time offset, initial td: 0
[ INFO] [1636006478.021248912]: ROW: 480 COL: 640
exitrinsic cam 0
-0.00575863 -0.00404633 0.999975
-0.999983 -0.00102246 -0.00576281
0.00104575 -0.999991 -0.00404037
0.0203293 0.00793252 0.00285598
exitrinsic cam 1
-0.00100218 0.000363135 0.999999
-0.999992 -0.00383034 -0.00100078
0.00382998 -0.999993 0.000366971
0.0152858 -0.0524358 0.00869313
set g 0 0 9.805
[ INFO] [1636006478.025506381]: reading paramerter of camera /home/enord/catkin_ws/src/VINS-Fusion-gpu/config/realsense_d435i/left.yaml
OpenCV(3.4.1) Error: Unknown error code -49 (Input file is empty) in cvOpenFileStorage, file /home/enord/opencv-3.4.1/modules/core/src/persistence_c.cpp, line 384
terminate called after throwing an instance of 'cv::Exception'
what(): OpenCV(3.4.1) /home/enord/opencv-3.4.1/modules/core/src/persistence_c.cpp:384: error: (-49) Input file is empty in function cvOpenFileStorage

Aborted (core dumped)

as you already run it on d435i thankuh