vis4rob-lab / hyperslam Goto Github PK

this code realized Non-Uniform B-Splines or Uniform B-Splines ?

$ cmake ..
-- The CXX compiler identification is GNU 10.3.0
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found GTest: /usr/local/lib/libgtest.a
-- Found OpenCV: /usr (found version "3.2.0")
CMake Error at build/_deps/hypersensors-src/CMakeLists.txt:85 (target_sources):
target_sources may only set INTERFACE properties on INTERFACE targets

-- Found Threads: TRUE
-- Found CXSparse: /usr/include/suitesparse (found suitable version "3.1.9", minimum required is "3.1.9")
-- Found BLAS: /usr/lib/x86_64-linux-gnu/libf77blas.so;/usr/lib/x86_64-linux-gnu/libatlas.so
-- Found AMD headers in: /usr/include/suitesparse
-- Found AMD library: /usr/lib/x86_64-linux-gnu/libamd.so
-- Found CAMD headers in: /usr/include/suitesparse
-- Found CAMD library: /usr/lib/x86_64-linux-gnu/libcamd.so
-- Found CCOLAMD headers in: /usr/include/suitesparse
-- Found CCOLAMD library: /usr/lib/x86_64-linux-gnu/libccolamd.so
-- Found CHOLMOD headers in: /usr/include/suitesparse
-- Found CHOLMOD library: /usr/lib/x86_64-linux-gnu/libcholmod.so
-- Found COLAMD headers in: /usr/include/suitesparse
-- Found COLAMD library: /usr/lib/x86_64-linux-gnu/libcolamd.so
-- Found SPQR headers in: /usr/include/suitesparse
-- Found SPQR library: /usr/lib/x86_64-linux-gnu/libspqr.so
-- Found Config headers in: /usr/include/suitesparse
-- Found Config library: /usr/lib/x86_64-linux-gnu/libsuitesparseconfig.so
-- Did not find Intel TBB library, assuming SuiteSparseQR was not compiled with TBB.
-- Looking for shm_open in rt
-- Looking for shm_open in rt - found
-- Adding librt to SuiteSparse_config libraries (required on Linux & Unix [not OSX] if SuiteSparse is compiled with timing).
-- Could NOT find METIS (missing: METIS_INCLUDE_DIR METIS_LIBRARY)
-- Found SuiteSparse: /usr/include/suitesparse (found suitable version "5.1.2", minimum required is "5.1.2") found components: AMD CAMD CCOLAMD CHOLMOD COLAMD SPQR Config
-- Found required Ceres dependency: Eigen version 3.3.4 in /usr/lib/cmake/eigen3
-- Found required Ceres dependency: glog
-- Found Ceres version: 2.1.0 installed in: /usr/local with components: [EigenSparse, SparseLinearAlgebraLibrary, LAPACK, SuiteSparse, CXSparse, SchurSpecializations, Multithreading]
CMake Error at CMakeLists.txt:95 (target_sources):
target_sources may only set INTERFACE properties on INTERFACE targets

-- Configuring incomplete, errors occurred!
See also "/home/sharine/LXX/MyResearch/HyperSLAM/build/CMakeFiles/CMakeOutput.log".
See also "/home/sharine/LXX/MyResearch/HyperSLAM/build/CMakeFiles/CMakeError.log".

`sharine@sharine-MS-7B98:~/LXX/MyResearch/HyperSLAM/build$ cmake ..
-- The CXX compiler identification is GNU 10.3.0
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found GTest: /usr/local/lib/libgtest.a
-- Found OpenCV: /usr (found version "3.2.0")
CMake Error at build/_deps/hypersensors-src/CMakeLists.txt:85 (target_sources):
target_sources may only set INTERFACE properties on INTERFACE targets

-- Found Threads: TRUE
-- Found CXSparse: /usr/include/suitesparse (found suitable version "3.1.9", minimum required is "3.1.9")
-- Found BLAS: /usr/lib/x86_64-linux-gnu/libf77blas.so;/usr/lib/x86_64-linux-gnu/libatlas.so
-- Found AMD headers in: /usr/include/suitesparse
-- Found AMD library: /usr/lib/x86_64-linux-gnu/libamd.so
-- Found CAMD headers in: /usr/include/suitesparse
-- Found CAMD library: /usr/lib/x86_64-linux-gnu/libcamd.so
-- Found CCOLAMD headers in: /usr/include/suitesparse
-- Found CCOLAMD library: /usr/lib/x86_64-linux-gnu/libccolamd.so
-- Found CHOLMOD headers in: /usr/include/suitesparse
-- Found CHOLMOD library: /usr/lib/x86_64-linux-gnu/libcholmod.so
-- Found COLAMD headers in: /usr/include/suitesparse
-- Found COLAMD library: /usr/lib/x86_64-linux-gnu/libcolamd.so
-- Found SPQR headers in: /usr/include/suitesparse
-- Found SPQR library: /usr/lib/x86_64-linux-gnu/libspqr.so
-- Found Config headers in: /usr/include/suitesparse
-- Found Config library: /usr/lib/x86_64-linux-gnu/libsuitesparseconfig.so
-- Did not find Intel TBB library, assuming SuiteSparseQR was not compiled with TBB.
-- Looking for shm_open in rt
-- Looking for shm_open in rt - found
-- Adding librt to SuiteSparse_config libraries (required on Linux & Unix [not OSX] if SuiteSparse is compiled with timing).
-- Could NOT find METIS (missing: METIS_INCLUDE_DIR METIS_LIBRARY)
-- Found SuiteSparse: /usr/include/suitesparse (found suitable version "5.1.2", minimum required is "5.1.2") found components: AMD CAMD CCOLAMD CHOLMOD COLAMD SPQR Config
-- Found required Ceres dependency: Eigen version 3.3.4 in /usr/lib/cmake/eigen3
-- Found required Ceres dependency: glog
-- Found required Ceres dependency: gflags
-- Found Ceres version: 2.1.0 installed in: /usr/local with components: [EigenSparse, SparseLinearAlgebraLibrary, LAPACK, SuiteSparse, CXSparse, SchurSpecializations, Multithreading]
-- Configuring incomplete, errors occurred!
See also "/home/sharine/LXX/MyResearch/HyperSLAM/build/CMakeFiles/CMakeOutput.log".
See also "/home/sharine/LXX/MyResearch/HyperSLAM/build/CMakeFiles/CMakeError.log".`

Thanks for your great work!
But I have a question, could you please help me solve it? When I run stereo settings, all is ok

python run.py stereo --datasets euroc --sequences MH_01_easy

But with the stereo_inertial setting, I cannot get the right output

python run.py stereo_inertial --datasets euroc --sequences MH_01_easy

Finally, I cannot find the script comparison.py to compare multiple result folders with the above layout.

Thank you!

Hello,

I would appreciate your nice work!

But, unfortunately, there is an error during make
cmake was successfully done without any problems.

My env is like below

Ubuntu 20.04, ROS Noetic
gcc and g++ version are 10
ceres 2.1.0
gflag, glog, googletest, benchmark also had been installed from source.

I found three error lines related to ros/serialization.h as follows:

/opt/ros/noetic/include/ros/serialization.h:485:48: error: ‘read’ is not a member of ‘ros::serialization::VectorSerializer<unsigned char, std::allocator, void>’
485 | VectorSerializer<T, ContainerAllocator>::read(stream, t);

/opt/ros/noetic/include/ros/serialization.h:385:82: error: no class template named ‘rebind’ in ‘class std::allocator’
385 | typedef std::vector<T, typename ContainerAllocator::template rebind::other> VecType;
| ^~~~~~~
/opt/ros/noetic/include/ros/serialization.h:386:38: error: no class template named ‘rebind’ in ‘class std::allocator’
386 | typedef typename VecType::iterator IteratorType;
| ^~~~~~~~~~~~
/opt/ros/noetic/include/ros/serialization.h:387:44: error: no class template named ‘rebind’ in ‘class std::allocator’
387 | typedef typename VecType::const_iterator ConstIteratorType;

/opt/ros/noetic/include/ros/subscription_callback_helper.h:118:24: required from here
/opt/ros/noetic/include/ros/serialization.h:485:48: error: ‘read’ is not a member of ‘ros::serialization::VectorSerializer<unsigned char, std::allocator, void>’
485 | VectorSerializer<T, ContainerAllocator>::read(stream, t);

Do you have any idea to resolve these issues?

TIA.

P.S. I added full messages in terminal.

[ 0%] Built target HyperSystem [ 0%] Built target HyperSensors [ 1%] Building CXX object _deps/hyperstate-build/CMakeFiles/HyperState.dir/internal/hyper/state/interpolators/basis.cpp.o [ 2%] Building CXX object _deps/hypervariables-build/apps/tests/CMakeFiles/HyperVariablesTests.dir/main.cpp.o [ 4%] Building CXX object _deps/hyperstate-build/CMakeFiles/HyperState.dir/internal/hyper/state/interpolators/polynomial.cpp.o [ 4%] Building CXX object _deps/hyperstate-build/CMakeFiles/HyperState.dir/internal/hyper/state/abstract.cpp.o [ 5%] Building CXX object _deps/hyperstate-build/CMakeFiles/HyperState.dir/internal/hyper/state/policies/se3.cpp.o [ 6%] Building CXX object _deps/hypervariables-build/apps/tests/CMakeFiles/HyperVariablesTests.dir/__/__/tests/internal/hyper/variables/distortions/distortion_tests.cpp.o [ 8%] Building CXX object _deps/hypervariables-build/apps/tests/CMakeFiles/HyperVariablesTests.dir/__/__/tests/internal/hyper/variables/groups/se3_tests.cpp.o [ 8%] Building CXX object _deps/hypervariables-build/apps/tests/CMakeFiles/HyperVariablesTests.dir/__/__/tests/internal/hyper/variables/metrics/metrics_tests.cpp.o [ 9%] Building CXX object _deps/hypervariables-build/apps/tests/CMakeFiles/HyperVariablesTests.dir/__/__/tests/internal/hyper/variables/groups/su2_tests.cpp.o [ 10%] Building CXX object _deps/hypervariables-build/apps/tests/CMakeFiles/HyperVariablesTests.dir/__/__/tests/internal/hyper/variables/orthonormality_alignment_tests.cpp.o [ 11%] Building CXX object _deps/hypervariables-build/apps/tests/CMakeFiles/HyperVariablesTests.dir/__/__/tests/internal/hyper/variables/intrinsics_tests.cpp.o [ 12%] Building CXX object _deps/hypervariables-build/apps/tests/CMakeFiles/HyperVariablesTests.dir/__/__/tests/plugins/matrix_base_plugin_tests.cpp.o [ 13%] Linking CXX shared library ../../../lib/libHyperState.so [ 13%] Built target HyperState [ 14%] Building CXX object _deps/hypersensors-build/apps/tests/CMakeFiles/HyperSensorsTests.dir/main.cpp.o [ 16%] Building CXX object _deps/hyperstate-build/apps/tests/CMakeFiles/HyperStateTests.dir/main.cpp.o [ 16%] Building CXX object _deps/hyperstate-build/apps/tests/CMakeFiles/HyperStateTests.dir/__/__/tests/internal/hyper/range_tests.cpp.o [ 17%] Building CXX object _deps/hypersensors-build/apps/tests/CMakeFiles/HyperSensorsTests.dir/__/__/internal/hyper/messages/abstract.cpp.o [ 19%] Building CXX object _deps/hypersensors-build/apps/tests/CMakeFiles/HyperSensorsTests.dir/__/__/internal/hyper/sensors/imu.cpp.o [ 19%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/main.cpp.o [ 20%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/tests/internal/tests/optimizers/evaluators/bearing.cpp.o [ 22%] Building CXX object _deps/hyperstate-build/apps/tests/CMakeFiles/HyperStateTests.dir/__/__/tests/internal/hyper/state/state_tests.cpp.o [ 22%] Building CXX object _deps/hyperstate-build/apps/tests/CMakeFiles/HyperStateTests.dir/__/__/tests/internal/hyper/state/interpolators/basis_tests.cpp.o [ 23%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/internal/hyper/environment/landmarks/abstract.cpp.o [ 25%] Building CXX object _deps/hypersensors-build/apps/tests/CMakeFiles/HyperSensorsTests.dir/__/__/internal/hyper/sensors/sensor.cpp.o [ 26%] Building CXX object _deps/hypersensors-build/apps/tests/CMakeFiles/HyperSensorsTests.dir/__/__/internal/hyper/messages/measurements/abstract.cpp.o [ 27%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/main.cpp.o [ 28%] Building CXX object _deps/hypersensors-build/apps/tests/CMakeFiles/HyperSensorsTests.dir/__/__/internal/hyper/messages/visual.cpp.o [ 29%] Building CXX object _deps/hypersensors-build/apps/tests/CMakeFiles/HyperSensorsTests.dir/__/__/internal/hyper/sensors/camera.cpp.o [ 31%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/tests/internal/tests/optimizers/evaluators/inertial.cpp.o [ 31%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/internal/hyper/environment/abstract.cpp.o [ 32%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/tests/internal/tests/optimizers/evaluators/manifold.cpp.o [ 33%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/tests/internal/tests/optimizers/evaluators/pixel.cpp.o [ 34%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/internal/hyper/environment/abstract.cpp.o [ 35%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/internal/hyper/environment/landmarks/abstract.cpp.o [ 36%] Building CXX object _deps/hypersensors-build/apps/tests/CMakeFiles/HyperSensorsTests.dir/__/__/internal/hyper/yaml/yaml.cpp.o [ 37%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/internal/hyper/environment/observations/landmark.cpp.o [ 38%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/internal/hyper/optimizers/abstract.cpp.o [ 39%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/internal/hyper/optimizers/ceres/costs/exteroceptive.cpp.o [ 40%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/internal/hyper/optimizers/ceres/manifolds/sensors/camera.cpp.o [ 41%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/internal/hyper/optimizers/ceres/manifolds/sensors/imu.cpp.o [ 42%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/internal/hyper/environment/observations/landmark.cpp.o [ 43%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/internal/hyper/optimizers/abstract.cpp.o [ 44%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/internal/hyper/optimizers/ceres/costs/exteroceptive.cpp.o [ 45%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/internal/hyper/optimizers/ceres/manifolds/sensors/camera.cpp.o [ 46%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/internal/hyper/optimizers/ceres/manifolds/sensors/imu.cpp.o [ 47%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/internal/hyper/optimizers/ceres/manifolds/sensors/sensor.cpp.o [ 48%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/internal/hyper/optimizers/ceres/manifolds/sensors/sensor.cpp.o [ 50%] Linking CXX executable ../../../../../bin/HyperVariablesTests [ 50%] Built target HyperVariablesTests [ 51%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/internal/hyper/optimizers/ceres/manifolds/variables/bearing.cpp.o [ 52%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/internal/hyper/optimizers/ceres/manifolds/variables/bearing.cpp.o [ 53%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/internal/hyper/optimizers/ceres/manifolds/variables/se3.cpp.o [ 54%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/internal/hyper/optimizers/ceres/manifolds/variables/se3.cpp.o [ 55%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/internal/hyper/optimizers/ceres/manifolds/variables/su2.cpp.o [ 56%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/internal/hyper/optimizers/ceres/optimizer.cpp.o [ 57%] Linking CXX executable ../../../../../bin/HyperStateTests [ 58%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/internal/hyper/optimizers/evaluators/bearing.cpp.o [ 58%] Built target HyperStateTests [ 59%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/internal/hyper/optimizers/evaluators/inertial.cpp.o [ 60%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/internal/hyper/optimizers/ceres/manifolds/variables/su2.cpp.o [ 61%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/internal/hyper/optimizers/ceres/optimizer.cpp.o [ 62%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/internal/hyper/optimizers/evaluators/bearing.cpp.o [ 63%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/internal/hyper/optimizers/evaluators/inertial.cpp.o [ 64%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/internal/hyper/optimizers/evaluators/manifold.cpp.o [ 65%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/internal/hyper/optimizers/evaluators/manifold.cpp.o [ 66%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/internal/hyper/optimizers/evaluators/pixel.cpp.o [ 67%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/internal/hyper/system/components/abstract.cpp.o [ 68%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/internal/hyper/system/components/backend.cpp.o [ 69%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/internal/hyper/optimizers/evaluators/pixel.cpp.o [ 70%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/internal/hyper/system/components/abstract.cpp.o [ 71%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/internal/hyper/system/components/frontends/abstract.cpp.o [ 72%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/internal/hyper/system/components/backend.cpp.o [ 73%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/internal/hyper/system/components/frontends/abstract.cpp.o [ 75%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/internal/hyper/system/components/frontends/inertial/direct.cpp.o [ 76%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/internal/hyper/system/components/frontends/visual/klt.cpp.o [ 77%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/internal/hyper/system/components/module.cpp.o [ 78%] Linking CXX executable ../../../../../bin/HyperSensorsTests [ 78%] Built target HyperSensorsTests [ 79%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/internal/hyper/system/system.cpp.o [ 80%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/_deps/hypersensors-src/internal/hyper/messages/abstract.cpp.o [ 81%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/_deps/hypersensors-src/internal/hyper/messages/measurements/abstract.cpp.o [ 82%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/internal/hyper/system/components/frontends/inertial/direct.cpp.o [ 83%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/_deps/hypersensors-src/internal/hyper/messages/visual.cpp.o [ 84%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/internal/hyper/system/components/frontends/visual/klt.cpp.o [ 85%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/internal/hyper/system/components/module.cpp.o [ 86%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/internal/hyper/system/system.cpp.o [ 87%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/_deps/hypersensors-src/internal/hyper/messages/abstract.cpp.o [ 88%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/_deps/hypersensors-src/internal/hyper/messages/measurements/abstract.cpp.o [ 89%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/_deps/hypersensors-src/internal/hyper/messages/visual.cpp.o [ 90%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/_deps/hypersensors-src/internal/hyper/sensors/camera.cpp.o [ 92%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/_deps/hypersensors-src/internal/hyper/sensors/camera.cpp.o [ 92%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/_deps/hypersensors-src/internal/hyper/sensors/imu.cpp.o [ 93%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/_deps/hypersensors-src/internal/hyper/sensors/imu.cpp.o [ 94%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/_deps/hypersensors-src/internal/hyper/sensors/sensor.cpp.o [ 95%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/_deps/hypersensors-src/internal/hyper/yaml/yaml.cpp.o [ 96%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/_deps/hypersensors-src/internal/hyper/sensors/sensor.cpp.o [ 97%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/_deps/hypersensors-src/internal/hyper/yaml/yaml.cpp.o In file included from /opt/ros/noetic/include/ros/publisher.h:34, from /opt/ros/noetic/include/ros/node_handle.h:32, from /home/yurl20/grad/hyper_ws/src/HyperSLAM/internal/hyper/system/components/module.cpp:7: /opt/ros/noetic/include/ros/serialization.h: In instantiation of ‘struct ros::serialization::VectorSerializer<unsigned char, std::allocator<unsigned char>, void>’: /opt/ros/noetic/include/ros/serialization.h:485:48: required from ‘void ros::serialization::deserialize(Stream&, std::vector<_Tp, _Alloc>&) [with T = unsigned char; ContainerAllocator = std::allocator<unsigned char>; Stream = ros::serialization::IStream]’ /opt/ros/noetic/include/ros/serialization.h:719:16: required from ‘void ros::serialization::IStream::next(T&) [with T = std::vector<unsigned char>]’ /opt/ros/noetic/include/sensor_msgs/Image.h:253:18: required from ‘static void ros::serialization::Serializer<sensor_msgs::Image_<ContainerAllocator> >::allInOne(Stream&, T) [with Stream = ros::serialization::IStream; T = sensor_msgs::Image_<std::allocator<void> >&; ContainerAllocator = std::allocator<void>]’ /opt/ros/noetic/include/sensor_msgs/Image.h:256:5: required from ‘static void ros::serialization::Serializer<sensor_msgs::Image_<ContainerAllocator> >::read(Stream&, T&) [with Stream = ros::serialization::IStream; T = sensor_msgs::Image_<std::allocator<void> >; ContainerAllocator = std::allocator<void>]’ /opt/ros/noetic/include/ros/serialization.h:163:22: required from ‘void ros::serialization::deserialize(Stream&, T&) [with T = sensor_msgs::Image_<std::allocator<void> >; Stream = ros::serialization::IStream]’ /opt/ros/noetic/include/ros/subscription_callback_helper.h:136:21: required from ‘ros::VoidConstPtr ros::SubscriptionCallbackHelperT<P, Enabled>::deserialize(const ros::SubscriptionCallbackHelperDeserializeParams&) [with P = const boost::shared_ptr<const sensor_msgs::Image_<std::allocator<void> > >&; Enabled = void; ros::VoidConstPtr = boost::shared_ptr<const void>]’ /opt/ros/noetic/include/ros/subscription_callback_helper.h:118:24: required from here /opt/ros/noetic/include/ros/serialization.h:385:82: error: no class template named ‘rebind’ in ‘class std::allocator<unsigned char>’ 385 | typedef std::vector<T, typename ContainerAllocator::template rebind<T>::other> VecType; | ^~~~~~~ /opt/ros/noetic/include/ros/serialization.h:386:38: error: no class template named ‘rebind’ in ‘class std::allocator<unsigned char>’ 386 | typedef typename VecType::iterator IteratorType; | ^~~~~~~~~~~~ /opt/ros/noetic/include/ros/serialization.h:387:44: error: no class template named ‘rebind’ in ‘class std::allocator<unsigned char>’ 387 | typedef typename VecType::const_iterator ConstIteratorType; | ^~~~~~~~~~~~~~~~~ In file included from /opt/ros/noetic/include/ros/publisher.h:34, from /opt/ros/noetic/include/ros/node_handle.h:32, from /home/yurl20/grad/hyper_ws/src/HyperSLAM/internal/hyper/system/components/module.cpp:7: /opt/ros/noetic/include/ros/serialization.h: In instantiation of ‘void ros::serialization::deserialize(Stream&, std::vector<_Tp, _Alloc>&) [with T = unsigned char; ContainerAllocator = std::allocator<unsigned char>; Stream = ros::serialization::IStream]’: /opt/ros/noetic/include/ros/serialization.h:719:16: required from ‘void ros::serialization::IStream::next(T&) [with T = std::vector<unsigned char>]’ /opt/ros/noetic/include/sensor_msgs/Image.h:253:18: required from ‘static void ros::serialization::Serializer<sensor_msgs::Image_<ContainerAllocator> >::allInOne(Stream&, T) [with Stream = ros::serialization::IStream; T = sensor_msgs::Image_<std::allocator<void> >&; ContainerAllocator = std::allocator<void>]’ /opt/ros/noetic/include/sensor_msgs/Image.h:256:5: required from ‘static void ros::serialization::Serializer<sensor_msgs::Image_<ContainerAllocator> >::read(Stream&, T&) [with Stream = ros::serialization::IStream; T = sensor_msgs::Image_<std::allocator<void> >; ContainerAllocator = std::allocator<void>]’ /opt/ros/noetic/include/ros/serialization.h:163:22: required from ‘void ros::serialization::deserialize(Stream&, T&) [with T = sensor_msgs::Image_<std::allocator<void> >; Stream = ros::serialization::IStream]’ /opt/ros/noetic/include/ros/subscription_callback_helper.h:136:21: required from ‘ros::VoidConstPtr ros::SubscriptionCallbackHelperT<P, Enabled>::deserialize(const ros::SubscriptionCallbackHelperDeserializeParams&) [with P = const boost::shared_ptr<const sensor_msgs::Image_<std::allocator<void> > >&; Enabled = void; ros::VoidConstPtr = boost::shared_ptr<const void>]’ /opt/ros/noetic/include/ros/subscription_callback_helper.h:118:24: required from here /opt/ros/noetic/include/ros/serialization.h:485:48: error: ‘read’ is not a member of ‘ros::serialization::VectorSerializer<unsigned char, std::allocator<unsigned char>, void>’ 485 | VectorSerializer<T, ContainerAllocator>::read(stream, t); | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~ make[2]: *** [apps/hyperslam/CMakeFiles/HyperSLAM.dir/build.make:384: apps/hyperslam/CMakeFiles/HyperSLAM.dir/__/__/internal/hyper/system/components/module.cpp.o] Error 1 make[2]: *** Waiting for unfinished jobs.... In file included from /opt/ros/noetic/include/ros/publisher.h:34, from /opt/ros/noetic/include/ros/node_handle.h:32, from /home/yurl20/grad/hyper_ws/src/HyperSLAM/internal/hyper/system/components/module.cpp:7: /opt/ros/noetic/include/ros/serialization.h: In instantiation of ‘struct ros::serialization::VectorSerializer<unsigned char, std::allocator<unsigned char>, void>’: /opt/ros/noetic/include/ros/serialization.h:485:48: required from ‘void ros::serialization::deserialize(Stream&, std::vector<_Tp, _Alloc>&) [with T = unsigned char; ContainerAllocator = std::allocator<unsigned char>; Stream = ros::serialization::IStream]’ /opt/ros/noetic/include/ros/serialization.h:719:16: required from ‘void ros::serialization::IStream::next(T&) [with T = std::vector<unsigned char>]’ /opt/ros/noetic/include/sensor_msgs/Image.h:253:18: required from ‘static void ros::serialization::Serializer<sensor_msgs::Image_<ContainerAllocator> >::allInOne(Stream&, T) [with Stream = ros::serialization::IStream; T = sensor_msgs::Image_<std::allocator<void> >&; ContainerAllocator = std::allocator<void>]’ /opt/ros/noetic/include/sensor_msgs/Image.h:256:5: required from ‘static void ros::serialization::Serializer<sensor_msgs::Image_<ContainerAllocator> >::read(Stream&, T&) [with Stream = ros::serialization::IStream; T = sensor_msgs::Image_<std::allocator<void> >; ContainerAllocator = std::allocator<void>]’ /opt/ros/noetic/include/ros/serialization.h:163:22: required from ‘void ros::serialization::deserialize(Stream&, T&) [with T = sensor_msgs::Image_<std::allocator<void> >; Stream = ros::serialization::IStream]’ /opt/ros/noetic/include/ros/subscription_callback_helper.h:136:21: required from ‘ros::VoidConstPtr ros::SubscriptionCallbackHelperT<P, Enabled>::deserialize(const ros::SubscriptionCallbackHelperDeserializeParams&) [with P = const boost::shared_ptr<const sensor_msgs::Image_<std::allocator<void> > >&; Enabled = void; ros::VoidConstPtr = boost::shared_ptr<const void>]’ /opt/ros/noetic/include/ros/subscription_callback_helper.h:118:24: required from here /opt/ros/noetic/include/ros/serialization.h:385:82: error: no class template named ‘rebind’ in ‘class std::allocator<unsigned char>’ 385 | typedef std::vector<T, typename ContainerAllocator::template rebind<T>::other> VecType; | ^~~~~~~ /opt/ros/noetic/include/ros/serialization.h:386:38: error: no class template named ‘rebind’ in ‘class std::allocator<unsigned char>’ 386 | typedef typename VecType::iterator IteratorType; | ^~~~~~~~~~~~ /opt/ros/noetic/include/ros/serialization.h:387:44: error: no class template named ‘rebind’ in ‘class std::allocator<unsigned char>’ 387 | typedef typename VecType::const_iterator ConstIteratorType; | ^~~~~~~~~~~~~~~~~ In file included from /opt/ros/noetic/include/ros/publisher.h:34, from /opt/ros/noetic/include/ros/node_handle.h:32, from /home/yurl20/grad/hyper_ws/src/HyperSLAM/internal/hyper/system/components/module.cpp:7: /opt/ros/noetic/include/ros/serialization.h: In instantiation of ‘void ros::serialization::deserialize(Stream&, std::vector<_Tp, _Alloc>&) [with T = unsigned char; ContainerAllocator = std::allocator<unsigned char>; Stream = ros::serialization::IStream]’: /opt/ros/noetic/include/ros/serialization.h:719:16: required from ‘void ros::serialization::IStream::next(T&) [with T = std::vector<unsigned char>]’ /opt/ros/noetic/include/sensor_msgs/Image.h:253:18: required from ‘static void ros::serialization::Serializer<sensor_msgs::Image_<ContainerAllocator> >::allInOne(Stream&, T) [with Stream = ros::serialization::IStream; T = sensor_msgs::Image_<std::allocator<void> >&; ContainerAllocator = std::allocator<void>]’ /opt/ros/noetic/include/sensor_msgs/Image.h:256:5: required from ‘static void ros::serialization::Serializer<sensor_msgs::Image_<ContainerAllocator> >::read(Stream&, T&) [with Stream = ros::serialization::IStream; T = sensor_msgs::Image_<std::allocator<void> >; ContainerAllocator = std::allocator<void>]’ /opt/ros/noetic/include/ros/serialization.h:163:22: required from ‘void ros::serialization::deserialize(Stream&, T&) [with T = sensor_msgs::Image_<std::allocator<void> >; Stream = ros::serialization::IStream]’ /opt/ros/noetic/include/ros/subscription_callback_helper.h:136:21: required from ‘ros::VoidConstPtr ros::SubscriptionCallbackHelperT<P, Enabled>::deserialize(const ros::SubscriptionCallbackHelperDeserializeParams&) [with P = const boost::shared_ptr<const sensor_msgs::Image_<std::allocator<void> > >&; Enabled = void; ros::VoidConstPtr = boost::shared_ptr<const void>]’ /opt/ros/noetic/include/ros/subscription_callback_helper.h:118:24: required from here /opt/ros/noetic/include/ros/serialization.h:485:48: error: ‘read’ is not a member of ‘ros::serialization::VectorSerializer<unsigned char, std::allocator<unsigned char>, void>’ 485 | VectorSerializer<T, ContainerAllocator>::read(stream, t); | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~ make[2]: *** [apps/tests/CMakeFiles/HyperSystemTests.dir/build.make:440: apps/tests/CMakeFiles/HyperSystemTests.dir/__/__/internal/hyper/system/components/module.cpp.o] Error 1 make[2]: *** Waiting for unfinished jobs.... make[1]: *** [CMakeFiles/Makefile2:1073: apps/hyperslam/CMakeFiles/HyperSLAM.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... make[1]: *** [CMakeFiles/Makefile2:1101: apps/tests/CMakeFiles/HyperSystemTests.dir/all] Error 2 make: *** [Makefile:91: all] Error 2

Hi, can you run stereo-inertial mode correctly? I can't run it correctly

Hi, thank you for your excellent work. What I want to ask is do I need to install HyperSensors、 HyperState
and HyperVariables installing HyperSLAM ?

Will the implementation contain discontinuous time vio.
Thank you

Thanks for your nice work.

I would like to run your code on my desktop.
However, make failed with the error messages below.
Note that CMake was successfully done.
I am working on Ubuntu 18.04 / ROS Melodic

TIA.

[ 3%] Building CXX object _deps/hyperstate-build/CMakeFiles/HyperState.dir/internal/hyper/state/interpolators/basis.cpp.o
[ 3%] Building CXX object _deps/hypervariables-build/apps/tests/CMakeFiles/HyperVariablesTests.dir/main.cpp.o
[ 3%] Building CXX object _deps/hyperstate-build/CMakeFiles/HyperState.dir/internal/hyper/state/interpolators/polynomial.cpp.o
[ 4%] Building CXX object _deps/hypervariables-build/apps/tests/CMakeFiles/HyperVariablesTests.dir///tests/internal/hyper/variables/distortions/distortion_tests.cpp.o
[ 5%] Building CXX object _deps/hypervariables-build/apps/tests/CMakeFiles/HyperVariablesTests.dir///tests/internal/hyper/variables/groups/se3_tests.cpp.o
[ 5%] Built target HyperSystem
[ 6%] Building CXX object _deps/hyperstate-build/CMakeFiles/HyperState.dir/internal/hyper/state/abstract.cpp.o
[ 6%] Built target HyperSensors
[ 7%] Building CXX object _deps/hypervariables-build/apps/tests/CMakeFiles/HyperVariablesTests.dir///tests/internal/hyper/variables/groups/su2_tests.cpp.o
[ 8%] Building CXX object _deps/hyperstate-build/CMakeFiles/HyperState.dir/internal/hyper/state/policies/se3.cpp.o
[ 9%] Building CXX object _deps/hypervariables-build/apps/tests/CMakeFiles/HyperVariablesTests.dir///tests/internal/hyper/variables/intrinsics_tests.cpp.o
[ 10%] Building CXX object _deps/hypervariables-build/apps/tests/CMakeFiles/HyperVariablesTests.dir///tests/internal/hyper/variables/metrics/metrics_tests.cpp.o
[ 11%] Building CXX object _deps/hypervariables-build/apps/tests/CMakeFiles/HyperVariablesTests.dir///tests/internal/hyper/variables/orthonormality_alignment_tests.cpp.o
[ 12%] Building CXX object _deps/hypervariables-build/apps/tests/CMakeFiles/HyperVariablesTests.dir///tests/plugins/matrix_base_plugin_tests.cpp.o
[ 13%] Linking CXX shared library ../../../lib/libHyperState.so
[ 13%] Built target HyperState
[ 14%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir/main.cpp.o
[ 15%] Building CXX object _deps/hyperstate-build/apps/tests/CMakeFiles/HyperStateTests.dir/main.cpp.o
[ 16%] Building CXX object _deps/hypersensors-build/apps/tests/CMakeFiles/HyperSensorsTests.dir/main.cpp.o
[ 17%] Building CXX object _deps/hyperstate-build/apps/tests/CMakeFiles/HyperStateTests.dir///tests/internal/hyper/range_tests.cpp.o
[ 18%] Building CXX object _deps/hyperstate-build/apps/tests/CMakeFiles/HyperStateTests.dir///tests/internal/hyper/state/interpolators/basis_tests.cpp.o
[ 19%] Building CXX object _deps/hyperstate-build/apps/tests/CMakeFiles/HyperStateTests.dir///tests/internal/hyper/state/state_tests.cpp.o
[ 20%] Building CXX object _deps/hypersensors-build/apps/tests/CMakeFiles/HyperSensorsTests.dir///internal/hyper/messages/abstract.cpp.o
[ 21%] Building CXX object _deps/hypersensors-build/apps/tests/CMakeFiles/HyperSensorsTests.dir///internal/hyper/messages/measurements/abstract.cpp.o
[ 22%] Building CXX object _deps/hypersensors-build/apps/tests/CMakeFiles/HyperSensorsTests.dir///internal/hyper/messages/visual.cpp.o
[ 23%] Building CXX object _deps/hypersensors-build/apps/tests/CMakeFiles/HyperSensorsTests.dir///internal/hyper/sensors/camera.cpp.o
[ 25%] Building CXX object _deps/hypersensors-build/apps/tests/CMakeFiles/HyperSensorsTests.dir///internal/hyper/sensors/imu.cpp.o
[ 26%] Building CXX object _deps/hypersensors-build/apps/tests/CMakeFiles/HyperSensorsTests.dir///internal/hyper/sensors/sensor.cpp.o
[ 27%] Building CXX object _deps/hypersensors-build/apps/tests/CMakeFiles/HyperSensorsTests.dir///internal/hyper/yaml/yaml.cpp.o
[ 28%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir///internal/hyper/environment/abstract.cpp.o
[ 29%] Linking CXX executable ../../../../../bin/HyperVariablesTests
[ 30%] Building CXX object apps/hyperslam/CMakeFiles/HyperSLAM.dir///internal/hyper/environment/landmarks/abstract.cpp.o
[ 30%] Built target HyperVariablesTests
[ 31%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir/main.cpp.o
[ 32%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir///tests/internal/tests/optimizers/evaluators/bearing.cpp.o
[ 33%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir///tests/internal/tests/optimizers/evaluators/inertial.cpp.o
[ 34%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir///tests/internal/tests/optimizers/evaluators/manifold.cpp.o
In file included from /home/yurl18/grad/hyper_ws/src/HyperSLAM/build/_deps/hypervariables-src/include/hyper/variables/groups/su2.hpp:6,
from /home/yurl18/grad/hyper_ws/src/HyperSLAM/build/_deps/hypervariables-src/include/hyper/variables/groups/se3.hpp:6,
from /home/yurl18/grad/hyper_ws/src/HyperSLAM/build/deps/hypersensors-src/include/hyper/sensors/forward.hpp:9,
from /home/yurl18/grad/hyper_ws/src/HyperSLAM/include/hyper/environment/landmarks/abstract.hpp:11,
from /home/yurl18/grad/hyper_ws/src/HyperSLAM/internal/hyper/environment/landmarks/abstract.cpp:4:
/home/yurl18/grad/hyper_ws/src/HyperSLAM/internal/hyper/environment/landmarks/abstract.cpp: In member function ‘hyper::AbstractLandmark::ObservationSet& hyper::AbstractLandmark::observations(const hyper::Sensor&) const’:
/home/yurl18/grad/hyper_ws/src/HyperSLAM/internal/hyper/environment/landmarks/abstract.cpp:29:27: error: ‘using ObservationMap = class std::map<const hyper::Sensor*, std::set<const hyper::AbstractObservation*, hyper::AbstractLandmark::AbstractObservationCompare> >’ {aka ‘class std::map<const hyper::Sensor*, std::set<const hyper::AbstractObservation*, hyper::AbstractLandmark::AbstractObservationCompare> >’} has no member named ‘contains’
29 | DCHECK(observation_map.contains(p_sensor));
| ^~~~~~~~
apps/hyperslam/CMakeFiles/HyperSLAM.dir/build.make:103: recipe for target 'apps/hyperslam/CMakeFiles/HyperSLAM.dir///internal/hyper/environment/landmarks/abstract.cpp.o' failed
make[2]: *** [apps/hyperslam/CMakeFiles/HyperSLAM.dir///internal/hyper/environment/landmarks/abstract.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
[ 35%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir///tests/internal/tests/optimizers/evaluators/pixel.cpp.o
[ 36%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir///internal/hyper/environment/abstract.cpp.o
CMakeFiles/Makefile2:1072: recipe for target 'apps/hyperslam/CMakeFiles/HyperSLAM.dir/all' failed
make[1]: *** [apps/hyperslam/CMakeFiles/HyperSLAM.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 37%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir///internal/hyper/environment/landmarks/abstract.cpp.o
[ 38%] Linking CXX executable ../../../../../bin/HyperStateTests
[ 38%] Built target HyperStateTests
[ 39%] Building CXX object apps/tests/CMakeFiles/HyperSystemTests.dir///internal/hyper/environment/observations/landmark.cpp.o
In file included from /home/yurl18/grad/hyper_ws/src/HyperSLAM/build/_deps/hypervariables-src/include/hyper/variables/groups/su2.hpp:6,
from /home/yurl18/grad/hyper_ws/src/HyperSLAM/build/_deps/hypervariables-src/include/hyper/variables/groups/se3.hpp:6,
from /home/yurl18/grad/hyper_ws/src/HyperSLAM/build/deps/hypersensors-src/include/hyper/sensors/forward.hpp:9,
from /home/yurl18/grad/hyper_ws/src/HyperSLAM/include/hyper/environment/landmarks/abstract.hpp:11,
from /home/yurl18/grad/hyper_ws/src/HyperSLAM/internal/hyper/environment/landmarks/abstract.cpp:4:
/home/yurl18/grad/hyper_ws/src/HyperSLAM/internal/hyper/environment/landmarks/abstract.cpp: In member function ‘hyper::AbstractLandmark::ObservationSet& hyper::AbstractLandmark::observations(const hyper::Sensor&) const’:
/home/yurl18/grad/hyper_ws/src/HyperSLAM/internal/hyper/environment/landmarks/abstract.cpp:29:27: error: ‘using ObservationMap = class std::map<const hyper::Sensor*, std::set<const hyper::AbstractObservation*, hyper::AbstractLandmark::AbstractObservationCompare> >’ {aka ‘class std::map<const hyper::Sensor*, std::set<const hyper::AbstractObservation*, hyper::AbstractLandmark::AbstractObservationCompare> >’} has no member named ‘contains’
29 | DCHECK(observation_map.contains(p_sensor));
| ^~~~~~~~
apps/tests/CMakeFiles/HyperSystemTests.dir/build.make:159: recipe for target 'apps/tests/CMakeFiles/HyperSystemTests.dir///internal/hyper/environment/landmarks/abstract.cpp.o' failed
make[2]: *** [apps/tests/CMakeFiles/HyperSystemTests.dir///internal/hyper/environment/landmarks/abstract.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
[ 40%] Linking CXX executable ../../../../../bin/HyperSensorsTests
[ 40%] Built target HyperSensorsTests
CMakeFiles/Makefile2:1100: recipe for target 'apps/tests/CMakeFiles/HyperSystemTests.dir/all' failed
make[1]: *** [apps/tests/CMakeFiles/HyperSystemTests.dir/all] Error 2
Makefile:90: recipe for target 'all' failed
make: *** [all] Error 2

Hi, thank you for your excellent work. What I want to ask is do I need to install HyperSensors、 HyperState
and HyperVariables installing HyperSLAM ?

Thanks for your kind contribution.

I just finished building the source code and now I want to run it.
Readme.txt in evaluation folder was checked and virtual env was also made.
But, pip install -r requirements.txt is not working.
Even though I changed all dependencies manually to fit on Ubuntu 18.04, PyQT version issue has not been solved.

If this repo is only validated in Ubuntu 20.04 (and ROS noetic), please indicate the proper environments.
(You may want to modify the Preliminaries of Setup & Installation part)

Or if you can branch this repo for ROS melodic, then it would be very nice.

TIA.