Hi,

The following files are missing.
#include <chisel_ros/ResetService.h>
#include <chisel_ros/PauseService.h>
#include <chisel_ros/SaveMeshService.h>

Also, I have problems with building chisel. It seems Eigen cannot run together with smart_ptr.
What c++ version did you use?

Thanks

Hi, when I catkin_make the package of VI_MEAN， get　the error [error: argument of type "void *"], did you have seen this problem, How can I save it.

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512fintrin.h(9410): error: argument of type "void *" is incompatible with parameter of type "float *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512fintrin.h(9419): error: argument of type "void *" is incompatible with parameter of type "float *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512fintrin.h(9428): error: argument of type "void *" is incompatible with parameter of type "double *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512fintrin.h(9437): error: argument of type "void *" is incompatible with parameter of type "double *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512fintrin.h(9445): error: argument of type "void *" is incompatible with parameter of type "float *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512fintrin.h(9454): error: argument of type "void *" is incompatible with parameter of type "float *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512fintrin.h(9463): error: argument of type "void *" is incompatible with parameter of type "double *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512fintrin.h(9472): error: argument of type "void *" is incompatible with parameter of type "double *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512fintrin.h(9481): error: argument of type "void *" is incompatible with parameter of type "int *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512fintrin.h(9490): error: argument of type "void *" is incompatible with parameter of type "int *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512fintrin.h(9499): error: argument of type "void *" is incompatible with parameter of type "long long *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512fintrin.h(9508): error: argument of type "void *" is incompatible with parameter of type "long long *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512fintrin.h(9517): error: argument of type "void *" is incompatible with parameter of type "int *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512fintrin.h(9526): error: argument of type "void *" is incompatible with parameter of type "int *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512fintrin.h(9535): error: argument of type "void *" is incompatible with parameter of type "long long *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512fintrin.h(9544): error: argument of type "void *" is incompatible with parameter of type "long long *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512pfintrin.h(55): error: argument of type "const void *" is incompatible with parameter of type "const long long *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512pfintrin.h(63): error: argument of type "const void *" is incompatible with parameter of type "const int *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512pfintrin.h(73): error: argument of type "const void *" is incompatible with parameter of type "const long long *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512pfintrin.h(81): error: argument of type "const void *" is incompatible with parameter of type "const int *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512pfintrin.h(91): error: argument of type "void *" is incompatible with parameter of type "const long long *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512pfintrin.h(100): error: argument of type "void *" is incompatible with parameter of type "const int *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512pfintrin.h(109): error: argument of type "void *" is incompatible with parameter of type "const long long *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512pfintrin.h(117): error: argument of type "void *" is incompatible with parameter of type "const int *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512pfintrin.h(127): error: argument of type "void *" is incompatible with parameter of type "const long long *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512pfintrin.h(136): error: argument of type "void *" is incompatible with parameter of type "const int *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512pfintrin.h(145): error: argument of type "void *" is incompatible with parameter of type "const long long *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512pfintrin.h(153): error: argument of type "void *" is incompatible with parameter of type "const int *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512vlintrin.h(10799): error: argument of type "const void *" is incompatible with parameter of type "const float *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512vlintrin.h(10811): error: argument of type "const void *" is incompatible with parameter of type "const float *"

/usr/lib/gcc/x86_64-linux-gnu/5/include/avx512vlintrin.h(10823): error: argument of type "const void *" is incompatible with parameter of type "const double *"

Hey there,

Very interesting work that you have done here. I am specially interested in the densification using the stereo image pairs. As I have already running a SLAM for my usecase, I wonder what your suggestions are about combining stereo pairs of another SLAM with your densification? Do you think it will work or does it rely on the visual inertial fusion?

Best regards,

Alex

perhaps, this line of code
https://github.com/dvorak0/VI-MEAN/blob/release/self_calibration_estimator/src/integration_base.h#L161

should contain this

GYR_N * GYR_N

but not

ACC_N * GYR_N

Would it be possible for you to provide this checkers?
https://github.com/dvorak0/VI-MEAN/blob/release/self_calibration_estimator/src/imu_factor.h#L193

-K.

Hi,

I have a problem with catkin_make. I get an error "Invoking "make -j4 -l4" failed". Can you help me with that?
catkin_make.txt

I'm trying to compile the project, but got several compilation errors. I'm using ROS Kinetic, and got errors about OpenCV, which is of version 3.2 in ROS Kinetic. Maybe this project was developed in another release of ROS or OpenCV?

It would be great if you can clarify.

Hi, I have build VI-Mean and run stereo_mapper by:

roslaunch stereo_mapper sample_all.bag
ros play sample.bag

then I get this error and there is no ouput in rviz.
TF_NAN_INPUT: Ignoring transform for child_frame_id "latest" from authority "unknown_publisher" because of a nan value in the transform

It seems the TF is not correct,how can I slove this problem?

===================error log===================
[ERROR] [1496647623.422564822]: clear state
[ INFO] [1496647623.422499639]: init feature_manager
[ INFO] [1496647623.422554020]: init begins
[ INFO] [1496647623.423289956]: init finished
[ INFO] [1496647623.433806623]: Loaded max_feature_cnt: 2000000
[ INFO] [1496647623.435222359]: Loaded num_of_iter: 10
[ INFO] [1496647623.440544295]: Loaded calib_threshold_ric: 0
[ INFO] [1496647623.441644691]: Loaded calib_threshold_tic: 1
[ INFO] [1496647623.444181972]: Loaded init_depth: 15
[ INFO] [1496647623.445526465]: Loaded gradient_threshold: 1
[ INFO] [1496647623.449151205]: Loaded feature_threshold: 5
[ INFO] [1496647623.450998068]: Loaded min_parallax: 10
[ INFO] [1496647623.453138170]: Loaded min_parallax_point: 2
[ INFO] [1496647623.454235381]: Loaded error_threshold: 1e+10
[ INFO] [1496647623.454862644]: Loaded show_histogram: 0
[ INFO] [1496647623.457832523]: Loaded show_graph: 0
[ INFO] [1496647623.459905662]: Loaded show_html: 0
[ INFO] [1496647623.460681247]: Loaded multi_thread: 0
[ INFO] [1496647623.463400699]: Loaded imu_rate: 200
[ INFO] [1496647623.463899570]: Loaded acc_n: 0.01
[ INFO] [1496647623.465681542]: Loaded acc_w: 1e-05
[ INFO] [1496647623.467542400]: Loaded gyr_n: 0.05
[ INFO] [1496647623.469421115]: Loaded gyr_w: 5e-05
[ INFO] [1496647623.473346109]: Loaded bias_acc_threshold: 0.5
[ INFO] [1496647623.475465393]: Loaded bias_gyr_threshold: 0.1
[ INFO] [1496647623.477724274]: Loaded solver_time: 0.04
[ INFO] [1496647623.480436803]: Loaded compensate_rotation: 1
180
-0
0
[ INFO] [1496647623.481699040]: Loaded ric_ok0: 1
[ INFO] [1496647623.483338358]: Loaded ric_r0: 90
[ INFO] [1496647623.484138172]: Loaded ric_p0: 0
[ INFO] [1496647623.488649501]: Loaded ric_y0: -90
6.12323e-17 6.12323e-17 -1
-1 3.7494e-33 -6.12323e-17
0 1 6.12323e-17
[ INFO] [1496647623.834737489]: read parameter
[ INFO] [1496647623.835225352]: Loaded calib_dir: /home/sst/catkin_ws/src/VI-MEAN/stereo_mapper/calib/
[ INFO] [1496647623.835624116]: Loaded cam_name: sample
/home/sst/catkin_ws/src/VI-MEAN/stereo_mapper/calib/sample/left.yml
367.613 0 369.043
0 367.89 236.542
0 0 1
[367.61258, 0, 369.042951;
0, 367.890163, 236.542114;
0, 0, 1]
[-0.260607;
0.053823;
-0.000793;
-0.000622]
25.6435
12.8217
8.54782
6.41087
5.1287
4.27391
3.66335
3.20543
2.84927
2.56435
2.33122
2.13696
1.97258
1.83168
1.70956
1.60272
1.50844
1.42464
1.34966
1.28217
1.22112
1.16561
1.11493
1.06848
1.02574
0.986288
0.949758
0.915838
0.884258
0.854782
0.827209
0.801359
0.777075
0.75422
0.732671
0.712319
0.693067
0.674828
0.657525
0.641087
0.625451
0.610559
0.59636
0.582806
0.569855
0.557467
0.545606
0.534239
0.523336
0.512869
0.502813
0.493144
0.483839
0.474879
0.466245
0.457919
0.449886
0.442129
0.434635
0.427391
0.420385
0.413604
0.407039
0.400679
feature_tracker: /usr/include/boost/smart_ptr/shared_ptr.hpp:653: typename boost::detail::sp_member_access::type boost::shared_ptr::operator->() const [with T = camodocal::Camera; typename boost::detail::sp_member_access::type = camodocal::Camera*]: Assertion `px != 0' failed.
[feature_tracker-5] process has died [pid 4744, exit code -6, cmd /home/sst/catkin_ws/devel/lib/feature_tracker/feature_tracker ~imu:=/imu_3dm_gx4/imu ~raw_image:=/mv_25001498/image_raw __name:=feature_tracker __log:=/home/sst/.ros/log/5e5ce6ac-49c0-11e7-8a18-d050990f0e30/feature_tracker-5.log].
log file: /home/sst/.ros/log/5e5ce6ac-49c0-11e7-8a18-d050990f0e30/feature_tracker-5*.log
[ INFO] [1496647623.391456847]: Starting up chisel node.
[ INFO] [1496647623.463007645]: Mode depth image
[ INFO] [1496647623.463036244]: Subscribing.
[ INFO] [1496647623.537278194]: Beginning to loop.
Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "latest" from authority "unknown_publisher" because of a nan value in the transform (94890481149738720.000000 -355808590104206336.000000 -5371015146347901952.000000) (-nan -nan -nan -nan)
at line 240 in /tmp/binarydeb/ros-indigo-tf2-0.5.13/src/buffer_core.cpp
[ERROR] [1496647628.745755094]: Ignoring transform for child_frame_id "latest" from authority "unknown_publisher" because of a nan value in the transform (94890481149738720.000000 -355808590104206336.000000 -5371015146347901952.000000) (-nan -nan -nan -nan)
Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "latest" from authority "unknown_publisher" because of a nan value in the transform (94890481150505296.000000 -355808590107080768.000000 -5371015146391291904.000000) (-nan -nan -nan -nan)
at line 240 in /tmp/binarydeb/ros-indigo-tf2-0.5.13/src/buffer_core.cpp
[ERROR] [1496647628.751236576]: Ignoring transform for child_frame_id "latest" from authority "unknown_publisher" because of a nan value in the transform (94890481150505296.000000 -355808590107080768.000000 -5371015146391291904.000000) (-nan -nan -nan -nan)
Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "latest" from authority "unknown_publisher" because of a nan value in the transform (94890481151266384.000000 -355808590109934592.000000 -5371015146434371584.000000) (-nan -nan -nan -nan)
at line 240 in /tmp/binarydeb/ros-indigo-tf2-0.5.13/src/buffer_core.cpp
[ERRTF_NAN_INPUT: Ignoring transform for child_frame_id "latest" from authority "unknown_publisher" because of a nan value in the transform (94890481151269424.000000 -355808590109945984.000000 -5371015146434543616.000000) (-nan -nan -nan -nan)
at line 240 in /tmp/binarydeb/ros-indigo-tf2-0.5.13/src/buffer_core.cpp
[ERROR] [1496647628.757356342]: Ignoring transform for child_frame_id "latest" from authority "unknown_publisher" because of a nan value in the transform (94890481151269424.000000 -355808590109945984.000000 -5371015146434543616.000000) (-nan -nan -nan -nan)
Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "latest" from authority "unknown_publisher" because of a nan value in the transform (94890481152029728.000000 -355808590112796864.000000 -5371015146477578240.000000) (-nan -nan -nan -nan)

I just put the source code in the catkin workspace and try to build it using catkin_make command.
However, it failed with the following message：

[ 54%] Built target std_msgs_generate_messages_py
[ 55%] Building NVCC (Device) object VI-MEAN/stereo_mapper/CMakeFiles/stereo_mapper.dir/src/stereo_mapper_generated_calc_cost.cu.o
[ 55%] Built target sensor_msgs_generate_messages_py
[ 55%] Built target geometry_msgs_generate_messages_py
[ 55%] Built target std_msgs_generate_messages_nodejs
[ 55%] Built target geometry_msgs_generate_messages_nodejs
[ 55%] Built target sensor_msgs_generate_messages_nodejs
[ 60%] Built target chisel_ros_generate_messages_lisp
CMake Error at stereo_mapper_generated_calc_cost.cu.o.cmake:207 (message):
Error generating
/home/davidwillo/Documents/catkin_ws/build/VI-MEAN/stereo_mapper/CMakeFiles/stereo_mapper.dir/src/./stereo_mapper_generated_calc_cost.cu.o

VI-MEAN/stereo_mapper/CMakeFiles/stereo_mapper.dir/build.make:63: recipe for target 'VI-MEAN/stereo_mapper/CMakeFiles/stereo_mapper.dir/src/stereo_mapper_generated_calc_cost.cu.o' failed
make[2]: *** [VI-MEAN/stereo_mapper/CMakeFiles/stereo_mapper.dir/src/stereo_mapper_generated_calc_cost.cu.o] Error 1
CMakeFiles/Makefile2:2619: recipe for target 'VI-MEAN/stereo_mapper/CMakeFiles/stereo_mapper.dir/all' failed
make[1]: *** [VI-MEAN/stereo_mapper/CMakeFiles/stereo_mapper.dir/all] Error 2

But there isn't any error message so I am confused about what's going on.
Can someone tell me where the problem can probably be?

Hi!
i am wondering does it necessary to have extrinsic calibration matrix, i don't find any file for extrinsic calibration, but when i replace the topic with my own sensors , it seems that the imu doesn't align with vision, the path is wrongly calculated.
i am waiting for your reply, thank you!

Hello,
Thank you so much for your work...
I want to try this repo but am unable to find the bag files of drop box and not even a sample.bag if it is uploaded to diff drive please help me with it.
thank you

Could you explain what does this function do?

https://github.com/dvorak0/VI-MEAN/blob/release/self_calibration_estimator/src/utility.h#L47

Firstly thanks for sharing the amazing work.

I tried to test on euroc dataset, but i found that the launch script need camera_synchronizer node, where can i get the camera_synchronizer node? I searched through google, but got just pr2_camera_synchronizer, also i tried under indigo in mint 17.3 and used aptitude to search, but got nothing.

So where to get camera_synchronizer node? thanks!

PS:
os: mint 17.3
ros: indigo

I found euroc.launch in stereo_mapper, what shuould i do to run euroc dataset

Hi,i'm tring to run stere_mapper node in Ubuntu 14.04,but the program gives this error:Failed to load config_file.

This is my running command:
roslaunch stereo_mapper sample_all.launch

Error info:
`sst@ubuntu:~/catkin_ws$ roslaunch stereo_mapper sample_all.launch
... logging to /home/sst/.ros/log/96224974-4759-11e7-a363-d050990f0e30/roslaunch-ubuntu-4097.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://192.168.3.250:43905/

SUMMARY

PARAMETERS

• /Chisel/base_transform: /base
• /Chisel/carving_dist_m: 0.0
• /Chisel/chunk_size_x: 8
• /Chisel/chunk_size_y: 8
• /Chisel/chunk_size_z: 8
• /Chisel/color_image_transform: /ref_frame
• /Chisel/depth_image_transform: /ref_frame
• /Chisel/far_plane_dist: 5.0
• /Chisel/fusion_mode: DepthImage
• /Chisel/integration_weight: 1.0
• /Chisel/near_plane_dist: 0.3
• /Chisel/truncation_scale: 2
• /Chisel/use_color: True
• /Chisel/use_voxel_carving: True
• /Chisel/voxel_resolution_m: 0.1
• /feature_tracker/F_threshold: 1.0
• /feature_tracker/T_threshold: 0.5
• /feature_tracker/calib_dir: /home/sst/catkin_...
• /feature_tracker/cam_name0: sample
• /feature_tracker/equalize: True
• /feature_tracker/freq: 3
• /feature_tracker/max_cnt: 100
• /feature_tracker/min_dist: 30
• /feature_tracker/show_track: True
• /feature_tracker/stereo_track: False
• /feature_tracker/use_E: False
• /feature_tracker/use_F: True
• /feature_tracker/window_size: 20
• /rosdistro: indigo
• /rosversion: 1.11.20
• /self_calibration_estimator/acc_n: 0.01
• /self_calibration_estimator/acc_w: 1e-05
• /self_calibration_estimator/bias_acc_threshold: 0.5
• /self_calibration_estimator/bias_gyr_threshold: 0.1
• /self_calibration_estimator/calib_threshold_ric: 0.0
• /self_calibration_estimator/calib_threshold_tic: 1.0
• /self_calibration_estimator/compensate_rotation: True
• /self_calibration_estimator/error_threshold: 10000000000.0
• /self_calibration_estimator/feature_threshold: 5.0
• /self_calibration_estimator/gradient_threshold: 1.0
• /self_calibration_estimator/gyr_n: 0.05
• /self_calibration_estimator/gyr_w: 5e-05
• /self_calibration_estimator/imu_rate: 200.0
• /self_calibration_estimator/init_depth: 15.0
• /self_calibration_estimator/max_feature_cnt: 2000000
• /self_calibration_estimator/min_parallax: 10.0
• /self_calibration_estimator/min_parallax_point: 2.0
• /self_calibration_estimator/multi_thread: False
• /self_calibration_estimator/num_of_iter: 10
• /self_calibration_estimator/ric_ok0: True
• /self_calibration_estimator/ric_p0: 0.0
• /self_calibration_estimator/ric_r0: 90.0
• /self_calibration_estimator/ric_y0: -90.0
• /self_calibration_estimator/show_graph: False
• /self_calibration_estimator/show_histogram: False
• /self_calibration_estimator/show_html: False
• /self_calibration_estimator/solver_time: 0.04
• /self_calibration_estimator/tic_ok0: True
• /self_calibration_estimator/tic_x0: 0.0
• /self_calibration_estimator/tic_y0: 0.0
• /self_calibration_estimator/tic_z0: 0.0
• /stereo_mapper/calib_dir: /home/sst/catkin_...
• /stereo_mapper/cam_name: sample

NODES
/
Chisel (chisel_ros/ChiselNode)
feature_tracker (feature_tracker/feature_tracker)
rvizvisualisation (rviz/rviz)
self_calibration_estimator (self_calibration_estimator/self_calibration_estimator)
stereo_mapper (stereo_mapper/stereo_mapper)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[rvizvisualisation-1]: started with pid [4115]
process[Chisel-2]: started with pid [4116]
process[stereo_mapper-3]: started with pid [4117]
process[feature_tracker-4]: started with pid [4118]
[ INFO] [1496383618.553729146]: Starting up chisel node.
process[self_calibration_estimator-5]: started with pid [4119]
[ERROR] [1496383618.575235363]: Failed to load config_file
OpenCV Error: Null pointer (NULL or empty buffer) in cvOpenFileStorage, file /home/sst/programs/opencv-2.4.9/modules/core/src/persistence.cpp, line 2697
terminate called after throwing an instance of 'cv::Exception'
what(): /home/sst/programs/opencv-2.4.9/modules/core/src/persistence.cpp:2697: error: (-27) NULL or empty buffer in function cvOpenFileStorage

[ INFO] [1496383618.581706714]: init feature_manager
[ INFO] [1496383618.581792452]: init begins
[ERROR] [1496383618.581811948]: clear state
[ INFO] [1496383618.582708527]: init finished
[ INFO] [1496383618.597851615]: Loaded max_feature_cnt: 2000000
[ INFO] [1496383618.598781389]: Loaded num_of_iter: 10
[ INFO] [1496383618.599764846]: Loaded calib_threshold_ric: 0
[ INFO] [1496383618.600670588]: Loaded calib_threshold_tic: 1
[ INFO] [1496383618.601611652]: Loaded init_depth: 15
[ INFO] [1496383618.602504334]: Loaded gradient_threshold: 1
[ INFO] [1496383618.603414171]: Loaded feature_threshold: 5
[ INFO] [1496383618.604319428]: Loaded min_parallax: 10
[ INFO] [1496383618.605038878]: Loaded min_parallax_point: 2
[ INFO] [1496383618.605923115]: Loaded error_threshold: 1e+10
[ INFO] [1496383618.606834256]: Loaded show_histogram: 0
[ INFO] [1496383618.607327732]: Mode depth image
[ INFO] [1496383618.607354987]: Subscribing.
[ INFO] [1496383618.607900508]: Loaded show_graph: 0
[ INFO] [1496383618.608802053]: Loaded show_html: 0
[ INFO] [1496383618.609689176]: Loaded multi_thread: 0
[ INFO] [1496383618.610575554]: Loaded imu_rate: 200
[ INFO] [1496383618.611454611]: Loaded acc_n: 0.01
[ INFO] [1496383618.612319802]: Loaded acc_w: 1e-05
[ INFO] [1496383618.613473345]: Loaded gyr_n: 0.05
[ INFO] [1496383618.614622158]: Loaded gyr_w: 5e-05
[ INFO] [1496383618.615081481]: Loaded bias_acc_threshold: 0.5
[ INFO] [1496383618.616167729]: Loaded bias_gyr_threshold: 0.1
[ INFO] [1496383618.617736599]: Loaded solver_time: 0.04
[ INFO] [1496383618.618536881]: Loaded compensate_rotation: 1
180
-0
0
[ INFO] [1496383618.619926435]: Loaded ric_ok0: 1
[ INFO] [1496383618.620604753]: Loaded ric_r0: 90
[ INFO] [1496383618.621557964]: Loaded ric_p0: 0
[ INFO] [1496383618.622600763]: Loaded ric_y0: -90
6.12323e-17 6.12323e-17 -1
-1 3.7494e-33 -6.12323e-17
0 1 6.12323e-17
[ INFO] [1496383618.624530889]: Loaded tic_ok0: 1
[ INFO] [1496383618.626946869]: Loaded tic_z0: 0
[ INFO] [1496383618.628961347]: Loaded tic_y0: 0
[ INFO] [1496383618.631453786]: Loaded tic_x0: 0
[ INFO] [1496383618.631489935]: EIGEN_DONT_PARALLELIZE
[ INFO] [1496383618.715467783]: Beginning to loop.
[feature_tracker-4] process has died [pid 4118, exit code -6, cmd /home/sst/catkin_ws/devel/lib/feature_tracker/feature_tracker ~imu:=/imu_3dm_gx4/imu ~raw_image:=/mv_25001498/image_raw __name:=feature_tracker __log:=/home/sst/.ros/log/96224974-4759-11e7-a363-d050990f0e30/feature_tracker-4.log].
log file: /home/sst/.ros/log/96224974-4759-11e7-a363-d050990f0e30/feature_tracker-4*.log
[ INFO] [1496383619.059897530]: read parameter
[ INFO] [1496383619.060502262]: Loaded calib_dir: /home/sst/catkin_ws/src/VI-MEAN/stereo_mapper/calib/
[ INFO] [1496383619.060953938]: Loaded cam_name: sample
/home/sst/catkin_ws/src/VI-MEAN/stereo_mapper/calib/sample/left.yml
367.613 0 369.043
0 367.89 236.542
0 0 1
[367.61258, 0, 369.042951;
0, 367.890163, 236.542114;
0, 0, 1]
[-0.260607;
0.053823;
-0.000793;
-0.000622]
25.6435
12.8217
8.54782
6.41087
5.1287
4.27391
3.66335
3.20543
2.84927
2.56435
2.33122
2.13696
1.97258
1.83168
1.70956
1.60272
1.50844
1.42464
1.34966
1.28217
1.22112
1.16561
1.11493
1.06848
1.02574
0.986288
0.949758
0.915838
0.884258
0.854782
0.827209
0.801359
0.777075
0.75422
0.732671
0.712319
0.693067
0.674828
0.657525
0.641087
0.625451
0.610559
0.59636
0.582806
0.569855
0.557467
0.545606
0.534239
0.523336
0.512869
0.502813
0.493144
0.483839
0.474879
0.466245
0.457919
0.449886
0.442129
0.434635
0.427391
0.420385
0.413604
0.407039
0.400679
^C[self_calibration_estimator-5] killing on exit
[stereo_mapper-3] killing on exit
[Chisel-2] killing on exit
[rvizvisualisation-1] killing on exit
terminate called without an active exception
shutting down processing monitor...
... shutting down processing monitor complete`

hello , sir.
recently, I'm using VI-Mean code to solve slam problem. I find the /feature_tracker/image the type of point_cloud. The coordinate is mostly less than 1. however, there's still few more than 1.
I want to know what is the relationship between coordinate of point_cloud and image's.

Plase, clarify this.

Shouldn't this line of code https://github.com/dvorak0/VI-MEAN/blob/release/self_calibration_estimator/src/integration_base.h#L188
be something like this

L.block<3, 4>(3, 3) = 2 * Utility::Qleft(Quaterniond::Identity()).template bottomRows<3>();

basicaly similar to
https://github.com/dvorak0/VI-MEAN/blob/release/self_calibration_estimator/src/integration_base.h#L195

/usr/local/cuda/bin/nvcc -M -D__CUDACC__ /home/arnab/codes/3D_with_drone/VI_MEAN_ws/src/VI-MEAN/stereo_mapper/src/calc_cost.cu -o /home/arnab/codes/3D_with_drone/VI_MEAN_ws/build/VI-MEAN/stereo_mapper/CMakeFiles/stereo_mapper.dir/src/stereo_mapper_generated_calc_cost.cu.o.NVCC-depend -ccbin /usr/bin/cc -m64 --std c++11 -DROS_BUILD_SHARED_LIBS=1 -DROS_PACKAGE_NAME="stereo_mapper" -DROSCONSOLE_BACKEND_LOG4CXX -Xcompiler ,"-DEIGEN_DONT_PARALLELIZE","-O3","-Wall","-g" -std=c++11 -O3 -gencode arch=compute_61,code=sm_61 -DNVCC -I/usr/local/cuda/include -I/home/arnab/codes/3D_with_drone/VI_MEAN_ws/devel/include -I/opt/ros/kinetic/include -I/opt/ros/kinetic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp -I/opt/ros/kinetic/include/opencv-3.3.1 -I/opt/ros/kinetic/include/opencv-3.3.1/opencv -I/usr/include -I/usr/include/eigen3 -I/usr/local/cuda/include
nvcc fatal : redefinition of argument 'std'
CMake Error at stereo_mapper_generated_calc_cost.cu.o.cmake:207 (message):
Error generating
/home/arnab/codes/3D_with_drone/VI_MEAN_ws/build/VI-MEAN/stereo_mapper/CMakeFiles/stereo_mapper.dir/src/./stereo_mapper_generated_calc_cost.cu.o

VI-MEAN/stereo_mapper/CMakeFiles/stereo_mapper.dir/build.make:1265: recipe for target 'VI-MEAN/stereo_mapper/CMakeFiles/stereo_mapper.dir/src/stereo_mapper_generated_calc_cost.cu.o' failed
make[2]: *** [VI-MEAN/stereo_mapper/CMakeFiles/stereo_mapper.dir/src/stereo_mapper_generated_calc_cost.cu.o] Error 1