cv-robot / orb_slam_with_det3d

代码完整压缩包（包括大文件）：

链接: https://pan.baidu.com/s/1Pl7-zV5j5yp9uMTBqoVduQ?pwd=3aws 提取码: 3aws 复制这段内容后打开百度网盘手机App，操作更方便哦

（Complete code compression package (including large files):

Link: https://pan.baidu.com/s/1Pl7-zV5j5yp9uMTBqoVduQ?pwd=3aws Extract code: 3aws copies this content and opens the Baidu Wangpan mobile app, which is more convenient to operate）

ros python3 tf 配置： （ ros python3 tf config：）

https://blog.csdn.net/liam_dapaitou/article/details/107656486

ros/geometry#213

编译方法： （ Compile method:）

cd ~/ai/orb_slam2_dense_ws/src/orb_slam2_dense/build

make -j1

cd ~/ai/orb_slam2_dense_ws

catkin_make -j1

运行方法： （ Run method：）

终端1： （ Terminal 1: ）

roscore

终端2： （ Terminal 2：）

cd ~/ai/object_detection/mmdetection3d

conda activate py37

source ~/ai/test_env_ws/devel/setup.bash

python3 ros_pcd.py

终端3：（ Terminal 3:）

cd ~/ai/orb_slam2_dense_ws

source devel/setup.bash

roslaunch orb_slam2_dense tum_pioneer.launch

orb_slam_with_det3d's Issues

大佬您好，这个项目里面要装的python包能提供一个cmakelist吗，手动一个一个找缺失的包然后再装太麻烦了，感谢！

1

message_utils.cpp代码中未定义引用该如何解决

c++代码中未定义引用该如何解决，具体报错：/usr/bin/ld: warning: libpcl_common.so.1.11, needed by /home/airlab/ai/orb_slam2_dense_ws/src/orb_slam2_dense/Examples/ROS/orb_slam2_dense/../../../lib/libORB_SLAM2.so, may conflict with libpcl_common.so.1.8
CMakeFiles/RGBD.dir/src/message_utils.cpp.o：在函数‘ORB_SLAM2_DENSE::MessageUtils::publishPointCloud(boost::shared_ptr<sensor_msgs::Image_<std::allocator > const> const&)’中：
/home/airlab/ai/orb_slam2_dense_ws/src/orb_slam2_dense/Examples/ROS/orb_slam2_dense/src/message_utils.cpp:318：对‘PointCloudMapping::getCurrentCloud(boost::shared_ptr<pcl::PointCloudpcl::PointXYZRGB >&)’未定义的引用
/home/airlab/ai/orb_slam2_dense_ws/src/orb_slam2_dense/Examples/ROS/orb_slam2_dense/src/message_utils.cpp:321：对‘PointCloudMapping::getGlobalCloud(boost::shared_ptr<pcl::PointCloudpcl::PointXYZRGB >&)’未定义的引用
collect2: error: ld returned 1 exit status
orb_slam2_dense/Examples/ROS/orb_slam2_dense/CMakeFiles/RGBD.dir/build.make:802: recipe for target '/home/airlab/ai/orb_slam2_dense_ws/devel/lib/orb_slam2_dense/RGBD' failed
make[2]: *** [/home/airlab/ai/orb_slam2_dense_ws/devel/lib/orb_slam2_dense/RGBD] Error 1
CMakeFiles/Makefile2:513: recipe for target 'orb_slam2_dense/Examples/ROS/orb_slam2_dense/CMakeFiles/RGBD.dir/all' failed
make[1]: *** [orb_slam2_dense/Examples/ROS/orb_slam2_dense/CMakeFiles/RGBD.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2

Please install mmcv>=2.0.0rc4, <2.2.0.

python ros_pcd.py
No CUDA runtime is found, using CUDA_HOME='/usr/local/cuda-11.0'
/home/slam/anaconda3/envs/openmmlab/lib/python3.7/site-packages/mmcv/init.py:21: UserWarning: On January 1, 2023, MMCV will release v2.0.0, in which it will remove components related to the training process and add a data transformation module. In addition, it will rename the package names mmcv to mmcv-lite and mmcv-full to mmcv. See https://github.com/open-mmlab/mmcv/blob/master/docs/en/compatibility.md for more details.
'On January 1, 2023, MMCV will release v2.0.0, in which it will remove '
Traceback (most recent call last):
File "ros_pcd.py", line 26, in
import fcaf3d_demo as demo
File "/home/slam/orb_slam_with_det3d/object_detection/mmdetection3d/fcaf3d_demo.py", line 5, in
from mmdet3d.apis import inference_detector, init_model, show_result_meshlab
File "/home/slam/orb_slam_with_det3d/object_detection/mmdetection3d/mmdet3d/init.py", line 4, in
import mmdet
File "/home/slam/anaconda3/envs/openmmlab/lib/python3.7/site-packages/mmdet/init.py", line 18, in
f'MMCV=={mmcv.version} is used but incompatible. '
AssertionError: MMCV==1.7.0 is used but incompatible. Please install mmcv>=2.0.0rc4, <2.2.0.

请问有没有人在运行ros_pcd.py时碰到过这个问题

mmdetection3d版本

您好！
请问您使用的mmdetection3d是什么版本的呢？ 我这里报错：
mportError: cannot import name 'show_result_meshlab' from mmdet3d.apis' (/home/river/mmdetection3d/mmdet3d/apis/init.py)
是mmdetection3d版本的问题吗？感谢您的回复！

执行roslaunch时的程序段错误

系统版本：Ubuntu 18.04, ROS melodic
PCL版本：1.8.1
Pangolin：v0.5

问题描述：在执行roslaunch orb_slam2_dense tum_pioneer.launch后，RVIZ中的深度图和RGB图都能正常播放，点云也能正常显示，但在播放一会后点云卡死，终端报错，深度图和RGB图仍在正常播放。
请问如何解决这个问题？谢谢！

终端信息：

(base) mmlab@mmlab-MS-7D30:~/ai/orb_slam2_dense_ws$ roslaunch orb_slam2_dense tum_pioneer.launch
... logging to /home/mmlab/.ros/log/f392d474-a6f3-11ee-ad6f-f426796c4b2f/roslaunch-mmlab-MS-7D30-4471.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://mmlab-MS-7D30:45605/

SUMMARY
========

PARAMETERS
 * /RGBD/depth_topic: /camera/depth/image
 * /RGBD/footprint_frame: base_link_
 * /RGBD/init_angle: 65.0
 * /RGBD/map_frame: map
 * /RGBD/odom_frame: odom
 * /RGBD/optical_frame: camera_link_
 * /RGBD/rgb_topic: /camera/rgb/image...
 * /RGBD/use_frame_pub: True
 * /RGBD/use_odom_pub: True
 * /RGBD/use_pcl_pub: True
 * /RGBD/use_rviz: True
 * /RGBD/use_tf: True
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /
    RGBD (orb_slam2_dense/RGBD)
    footprint2optical (tf/static_transform_publisher)
    image_transport_d (image_transport/republish)
    image_transport_rgb (image_transport/republish)
    playbag (rosbag/play)
    rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[playbag-1]: started with pid [4508]
process[rviz-2]: started with pid [4509]
process[RGBD-3]: started with pid [4511]
process[footprint2optical-4]: started with pid [4516]
process[image_transport_rgb-5]: started with pid [4517]
process[image_transport_d-6]: started with pid [4518]
[ INFO] [1703929114.997361510]: rviz version 1.13.30
[ INFO] [1703929114.997399424]: compiled against Qt version 5.9.5
[ INFO] [1703929114.997407049]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1703929114.999856418]: Forcing OpenGl version 0.

ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.

Input sensor was set to: RGB-D

Loading ORB Vocabulary. This could take a while...
[ INFO] [1703929115.105068985]: Stereo is NOT SUPPORTED
[ INFO] [1703929115.105131912]: OpenGL device: llvmpipe (LLVM 10.0.0, 256 bits)
[ INFO] [1703929115.105149175]: OpenGl version: 3.1 (GLSL 1.4).
Vocabulary loaded in 0.13s
---
Point Cloud Thread Parameters:
- x,y,z: 0 0 0.326921
- roll,pitch,yaw: 1.5708 1.5708 3.14159
- Tbc: 
 3.67321e-06  9.74701e-12            1            0
          -1  1.01962e-06  3.67321e-06            0
-1.01962e-06           -1  1.34924e-11     0.326921
           0            0            0            1
- CameraHeight: 0.326921
- Resolution: 0.01 0.01 0.01
- StatisticFilter 
	- MeanK: 50
	- Thres: 2

Camera Parameters: 
- fx: 546.05
- fy: 545.75
- cx: 318.265
- cy: 235.531
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- fps: 30
- color order: RGB (ignored if grayscale)

ORB Extractor Parameters: 
- Number of Features: 1000
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7

Depth Threshold (Close/Far Points): 2.93013
New map created with 390 points
receive a keyframe, Frame id = 3 , KF No.1
show global map, N=1 points size=20651
receive a keyframe, Frame id = 4 , KF No.2
show global map, N=2 points size=34181
[RGBD-3] process has died [pid 4511, exit code -11, cmd /home/mmlab/ai/orb_slam2_dense_ws/devel/lib/orb_slam2_dense/RGBD /home/mmlab/ai/orb_slam2_dense_ws/src/orb_slam2_dense/Examples/ROS/orb_slam2_dense/Vocabulary/ORBvoc.bin /home/mmlab/ai/orb_slam2_dense_ws/src/orb_slam2_dense/Examples/ROS/orb_slam2_dense/params/RTAB_DATASET.yaml __name:=RGBD __log:=/home/mmlab/.ros/log/f392d474-a6f3-11ee-ad6f-f426796c4b2f/RGBD-3.log].
log file: /home/mmlab/.ros/log/f392d474-a6f3-11ee-ad6f-f426796c4b2f/RGBD-3*.log
[playbag-1] process has finished cleanly
log file: /home/mmlab/.ros/log/f392d474-a6f3-11ee-ad6f-f426796c4b2f/playbag-1*.log
^C[image_transport_d-6] killing on exit
[image_transport_rgb-5] killing on exit
[footprint2optical-4] killing on exit
[rviz-2] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done