SVO2.0 - yuhannah/skills_map GitHub Wiki
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安装ubuntu16.04
OPEN_VINS、VINS_Mono、ORB_SLAM2都支持ubuntu16.04，但SVO2.0支持ubuntu18.04和ubuntu20.04，选择大部分算法支持的ubuntu16.04。
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安装ROS Kinetic（自带OpenCV和Eigen3）
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sources.list
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list' -
set up keys
sudo apt install curl # if you haven't already installed curl curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
网络不好时报错，多试几次会OK。
gpg: no valid OpenPGP data found.
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up date package
sudo apt-get update
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install，安装需要很长时间
sudo apt-get install ros-kinetic-desktop-full
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environment setup
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc source ~/.bashrc
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dependencies
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
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initialize rosdep
sudo apt install python-rosdep sudo rosdep init rosdep update
网络不好时会报错，多试几次会OK。
ERROR: cannot download default sources list from: https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list Website may be down.
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install tools
sudo apt-get install python-catkin-tools python-vcstool
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查看Eigen3版本，ros安装了Eigen3.2.92
pkg-config --modversion eigen3 3.2.92
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查看OpenCV版本，ros安装了OpenCV3.3.1
sudo find / -iname "*opencv*" /opt/ros/kinetic/include/opencv-3.3.1-dev
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安装Eigen3（已有3.2.92<3.3.4，版本低，使用项目自带的版本）
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安装OpenCV（已有3.3.1>2.4.3，跳过）
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编译SVO2.0（有34个packages需要编译，有多个仓库需要编译时下载！！）
mkdir svo_ws && cd svo_ws # see below for the reason for specifying the eigen path catkin config --init --mkdirs --extend /opt/ros/<ROS-DISTRO> --cmake-args -DCMAKE_BUILD_TYPE=Release -DEIGEN3_INCLUDE_DIR=/usr/include/eigen3 cd src git clone [email protected]:uzh-rpg/rpg_svo_pro_open.git vcs-import < ./rpg_svo_pro_open/dependencies.yaml touch minkindr/minkindr_python/CATKIN_IGNORE # vocabulary for place recognition cd rpg_svo_pro_open/svo_online_loopclosing/vocabularies && ./download_voc.sh cd ../../..
在执行
vcs-import步骤时，需要下载依赖仓库，报错连不上github：=== ./catkin_simple (git) === Could not determine ref type of version: Warning: Permanently added 'github.com,140.82.113.3' (ECDSA) to the list of known hosts. Permission denied (publickey). fatal: Could not read from remote repository. Please make sure you have the correct access rights and the repository exists. === ./ceres_catkin (git) === Could not determine ref type of version: Permission denied (publickey). fatal: Could not read from remote repository. Please make sure you have the correct access rights and the repository exists. === ./cmake_external_project_catkin (git) === Could not determine ref type of version: Permission denied (publickey). fatal: Could not read from remote repository. Please make sure you have the correct access rights and the repository exists. === ./dbow2_catkin (git) === Could not determine ref type of version: Permission denied (publickey). fatal: Could not read from remote repository. Please make sure you have the correct access rights and the repository exists. === ./eigen_catkin (git) === Could not determine ref type of version: Warning: Permanently added the ECDSA host key for IP address '140.82.114.4' to the list of known hosts. Permission denied (publickey). fatal: Could not read from remote repository. Please make sure you have the correct access rights and the repository exists. === ./eigen_checks (git) === Could not determine ref type of version: Warning: Permanently added the ECDSA host key for IP address '140.82.112.4' to the list of known hosts. Permission denied (publickey). fatal: Could not read from remote repository. Please make sure you have the correct access rights and the repository exists. === ./fast_neon (git) === Could not determine ref type of version: Permission denied (publickey). fatal: Could not read from remote repository. Please make sure you have the correct access rights and the repository exists. === ./gflags_catkin (git) === Could not determine ref type of version: Permission denied (publickey). fatal: Could not read from remote repository. Please make sure you have the correct access rights and the repository exists. === ./glog_catkin (git) === Could not determine ref type of version: Connection reset by 140.82.113.4 port 22 fatal: Could not read from remote repository. Please make sure you have the correct access rights and the repository exists. === ./minkindr (git) === Could not determine ref type of version: Connection reset by 140.82.113.4 port 22 fatal: Could not read from remote repository. Please make sure you have the correct access rights and the repository exists. === ./minkindr_ros (git) === Could not determine ref type of version: Connection reset by 140.82.113.3 port 22 fatal: Could not read from remote repository. Please make sure you have the correct access rights and the repository exists. === ./opengv (git) === Could not determine ref type of version: Permission denied (publickey). fatal: Could not read from remote repository. Please make sure you have the correct access rights and the repository exists. === ./rpg_trajectory_evaluation (git) === Could not determine ref type of version: Warning: Permanently added the ECDSA host key for IP address '20.205.243.166' to the list of known hosts. Permission denied (publickey). fatal: Could not read from remote repository. Please make sure you have the correct access rights and the repository exists.
这个错误表明 Git 没有 SSH 密钥权限 或 没有访问仓库的权限。使用 HTTPS 替代 SSH。修改
dependencies.yaml文件中的地址，将git@替换成https://，重新执行命令。或者单独克隆文件中的仓库：repositories: catkin_simple: type: git url: https://github.com/catkin/catkin_simple.git version: master cmake_external_project_catkin: type: git url: https://github.com/zurich-eye/cmake_external_project_catkin.git version: master eigen_catkin: type: git url: https://github.com/ethz-asl/eigen_catkin.git version: master eigen_checks: type: git url: https://github.com/ethz-asl/eigen_checks.git version: master fast_neon: type: git url: https://github.com/uzh-rpg/fast_neon.git version: master gflags_catkin: type: git url: https://github.com/ethz-asl/gflags_catkin.git version: master glog_catkin: type: git url: https://github.com/ethz-asl/glog_catkin.git version: master minkindr: type: git url: https://github.com/ethz-asl/minkindr.git version: master opengv: type: git url: https://github.com/ethz-asl/opengv.git version: master minkindr_ros: type: git url: https://github.com/ethz-asl/minkindr_ros.git version: master ceres_catkin: type: git url: https://github.com/ethz-asl/ceres_catkin.git version: master dbow2_catkin: type: git url: https://github.com/uzh-rpg/dbow2_catkin.git version: master rpg_trajectory_evaluation: type: git url: https://github.com/uzh-rpg/rpg_trajectory_evaluation.git version: dev克隆完成所有仓库。
查看编译顺序：
catkin build --dry-run --verbose
输出所有的packages：
[build] Found '34' packages in 0.0 seconds. Packages to be built: - catkin_simple (catkin) - cmake_external_project_catkin (catkin) - dbow2_catkin (catkin) - eigen_catkin (catkin) - fast (catkin) - gflags_catkin (catkin) - glog_catkin (catkin) - ceres_catkin (catkin) - eigen_checks (catkin) - minkindr (catkin) - minkindr_conversions (catkin) - opengv (catkin) - rpg_common (catkin) - rpg_trajectory_evaluation (catkin) - rqt_svo (catkin) - svo_cmake (catkin) - svo_msgs (catkin) - vikit_common (catkin) - vikit_cameras (catkin) - svo_common (catkin) - svo_pgo (catkin) - svo_online_loopclosing (catkin) - svo_vio_common (catkin) - svo_global_map (catkin) - vikit_py (catkin) - vikit_ros (catkin) - svo_test_utils (catkin) - vikit_solver (catkin) - svo_direct (catkin) - svo_img_align (catkin) - svo_tracker (catkin) - svo (catkin) - svo_ceres_backend (catkin) - svo_ros (catkin) - svo_benchmarking (catkin) Total packages: 34
查看依赖关系：
catkin list --deps --recursive-depends-on
编译
eigen_catkin一直卡在12%不动，也不报错。清空编译记录和日志，屏蔽补丁，单独编译报错：# 1. 手动删除 eigen_catkin 相关文件 cd /home/yu/ros_projects/catkin_ws_svo2.0 # 删除 devel 空间中的 eigen_catkin rm -rf devel/include/eigen3 rm -rf devel/share/eigen_catkin rm -rf devel/lib/pkgconfig/eigen_catkin.pc # 删除 build 空间中的 eigen_catkin rm -rf build/eigen_catkin # 删除 logs rm -rf logs/eigen_catkin # 2. 修复 catkin 记录 # 创建空的 devel_manifest.txt（如果需要） mkdir -p .catkin_tools/profiles/default/packages/eigen_catkin touch .catkin_tools/profiles/default/packages/eigen_catkin/devel_manifest.txt # 3. 重新编译 catkin build eigen_catkin -j1 --no-deps
报错找不到
DartConfiguration.tcl文件：CMake Error at cmake/EigenConfigureTesting.cmake:25 (file): file failed to open for reading (No such file or directory): /home/yu/ros_projects/catkin_ws_svo2.0/build/eigen_catkin/eigen_src-prefix/src/eigen_src-build/DartConfiguration.tcl Call Stack (most recent call first): CMakeLists.txt:419 (include) CMake Error at cmake/EigenConfigureTesting.cmake:27 (string): string sub-command REGEX, mode MATCH needs at least 5 arguments total to command. Call Stack (most recent call first): CMakeLists.txt:419 (include) CMake Error at cmake/EigenConfigureTesting.cmake:29 (string): string sub-command REGEX, mode MATCH needs at least 5 arguments total to command. Call Stack (most recent call first): CMakeLists.txt:419 (include) CMake Error at cmake/EigenConfigureTesting.cmake:31 (string): string sub-command REGEX, mode REPLACE needs at least 6 arguments total to command. Call Stack (most recent call first): CMakeLists.txt:419 (include)在本地仓库中编译报了同样的错误。重新克隆
eigen仓库，清空编译记录和日志，打开补丁，再次单独编译通过。后续发现，重新编译也可能卡住，最好清空eigen仓库的补丁修改后再次编译。编译到
svo_common时报错：Errors << svo_common:make /home/yu/ros_projects/catkin_ws_svo2.0/logs/svo_common/build.make.000.log In file included from /home/yu/ros_projects/catkin_ws_svo2.0/src/rpg_svo_pro_open/svo_common/src/point.cpp:9:0: /home/yu/ros_projects/catkin_ws_svo2.0/src/rpg_svo_pro_open/svo_common/include/svo/common/point.h:97:15: error: ‘atomic_uint64_t’ in namespace ‘std’ does not name a type static std::atomic_uint64_t global_map_value_version_; ^ In file included from /home/yu/ros_projects/catkin_ws_svo2.0/src/rpg_svo_pro_open/svo_common/include/svo/common/frame.h:19:0, from /home/yu/ros_projects/catkin_ws_svo2.0/src/rpg_svo_pro_open/svo_common/src/frame.cpp:9: /home/yu/ros_projects/catkin_ws_svo2.0/src/rpg_svo_pro_open/svo_common/include/svo/common/point.h:97:15: error: ‘atomic_uint64_t’ in namespace ‘std’ does not name a type static std::atomic_uint64_t global_map_value_version_; ^ /home/yu/ros_projects/catkin_ws_svo2.0/src/rpg_svo_pro_open/svo_common/src/point.cpp:39:6: error: ‘atomic_uint64_t’ in namespace ‘std’ does not name a type std::atomic_uint64_t Point::global_map_value_version_ {0u}; ^ cc1plus: error: unrecognized command line option ‘-Wno-int-in-bool-context’ [-Werror] cc1plus: error: unrecognized command line option ‘-Wno-int-in-bool-context’ [-Werror] cc1plus: all warnings being treated as errors make[2]: *** [CMakeFiles/svo_common.dir/src/frame.cpp.o] Error 1 make[2]: *** Waiting for unfinished jobs.... cc1plus: error: unrecognized command line option ‘-Wno-int-in-bool-context’ [-Werror] cc1plus: error: unrecognized command line option ‘-Wno-int-in-bool-context’ [-Werror] cc1plus: all warnings being treated as errors make[2]: *** [CMakeFiles/svo_common.dir/src/point.cpp.o] Error 1 make[1]: *** [CMakeFiles/svo_common.dir/all] Error 2 make: *** [all] Error 2
是编译器版本较低，需要适配代码，修改
rpg_svo_pro_open/svo_cmake/cmake/Modules/SvoSetup.cmake，根据GCC版本添加不同的编译选项：# 检查编译器版本 EXECUTE_PROCESS( COMMAND ${CMAKE_CXX_COMPILER} --version OUTPUT_VARIABLE COMPILER_INFO_FULL OUTPUT_STRIP_TRAILING_WHITESPACE ) STRING(REGEX MATCH "[^\n]*" COMPILER_INFO "${COMPILER_INFO_FULL}") MESSAGE(STATUS "Compiler: ${COMPILER_INFO}") # 检查 GCC 版本以确定是否支持某些选项 IF(CMAKE_COMPILER_IS_GNUCXX) EXECUTE_PROCESS( COMMAND ${CMAKE_CXX_COMPILER} -dumpversion OUTPUT_VARIABLE GCC_VERSION OUTPUT_STRIP_TRAILING_WHITESPACE ) MESSAGE(STATUS "GCC version: ${GCC_VERSION}") # 解析主版本号 STRING(REGEX MATCH "^[0-9]+" GCC_MAJOR_VERSION ${GCC_VERSION}) # 根据版本设置选项 IF(${GCC_MAJOR_VERSION} EQUAL 6 OR ${GCC_MAJOR_VERSION} GREATER 6) SET(EXTRA_WARN_FLAGS "-Wno-int-in-bool-context") ELSE() SET(EXTRA_WARN_FLAGS "") MESSAGE(WARNING "GCC version ${GCC_VERSION} may not support all compiler flags") ENDIF() ELSE() SET(EXTRA_WARN_FLAGS "-Wno-int-in-bool-context") ENDIF() SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread -Wall -Werror -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas -Wno-unused-but-set-parameter ${EXTRA_WARN_FLAGS} -Wno-maybe-uninitialized -Wno-unused-function")
修改
rpg_svo_pro_open/svo_common/include/svo/common/point.h和rpg_svo_pro_open/svo_common/src/point.cpp中的std::atomic_uint64_t为std::atomic<std::uint64_t>：// point.h // 原代码： // static std::atomic_uint64_t global_map_value_version_; // 修改为： static std::atomic<std::uint64_t> global_map_value_version_; // point.cpp // 原代码： // std::atomic_uint64_t Point::global_map_value_version_ {0u}; // 修改为： std::atomic<std::uint64_t> Point::global_map_value_version_ {0u};
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编译（无global map）
catkin build
报错，找不到
eigen_src/目录，原因是ROS自带的Eigen版本为3.2.92，比SVO2.0指定的最低版本3.3.4要低，需要重新下载Eigen仓库并编译。Warnings << eigen_catkin:make /home/yu/ros_projects/catkin_ws_svo2.0/logs/eigen_catkin/build.make.000.log abort: repository /home/yu/ros_projects/catkin_ws_svo2.0/build/eigen_catkin/eigen_src-prefix/src/eigen_src not found! abort: repository /home/yu/ros_projects/catkin_ws_svo2.0/build/eigen_catkin/eigen_src-prefix/src/eigen_src not found! CMake Warning (dev) in bench/spbench/CMakeLists.txt: A logical block opening on the line /home/yu/ros_projects/catkin_ws_svo2.0/build/eigen_catkin/eigen_src-prefix/src/eigen_src/bench/spbench/CMakeLists.txt:51 (if) closes on the line /home/yu/ros_projects/catkin_ws_svo2.0/build/eigen_catkin/eigen_src-prefix/src/eigen_src/bench/spbench/CMakeLists.txt:63 (endif) with mis-matching arguments. This warning is for project developers. Use -Wno-dev to suppress it.
报错，连不上github，克隆
dbow2_src失败：Errors << dbow2_catkin:make /home/yu/ros_projects/catkin_ws_svo2.0/logs/dbow2_catkin/build.make.000.log Cloning into 'dbow2_src'... Permission denied (publickey). fatal: Could not read from remote repository. Please make sure you have the correct access rights and the repository exists.
后续查询所有仓库的
CMakeLists.txt文件，将所有需要克隆仓库的地方全部修改成已有仓库。-
修改
ceres_catkin/CMakeLists.txt，将克隆仓库替换成本地仓库，指定本地仓库路径：# 指定ceres-solver本地仓库的目录 set(CERES_SOURCE_DIR "/home/yu/sources/ceres-solver") message(STATUS "CERES_SOURCE_DIR=${CERES_SOURCE_DIR}") ExternalProject_Add(ceres_src # 指定本地仓库路径 SOURCE_DIR ${CERES_SOURCE_DIR} # 屏蔽克隆 #GIT_REPOSITORY https://github.com/ceres-solver/ceres-solver.git #GIT_TAG ${VERSION} # 禁用下载 DOWNLOAD_COMMAND "" # 禁用更新 UPDATE_COMMAND "" CONFIGURE_COMMAND cmake -DGFLAGS=ON -DGFLAGS_LIBRARY_DIR_HINTS=${gflags_catkin_LIBRARIES} -DGFLAGS_INCLUDE_DIR_HINTS=${gflags_catkin_INCLUDE_DIR} -DGLOG_INCLUDE_DIR_HINTS=${glog_catkin_INCLUDE_DIR} -DGLOG_LIBRARY_DIR_HINTS=${glog_catkin_LIBRARIES} -DBUILD_DOCUMENTATION=OFF -DSUITESPARSE_INCLUDE_DIR_HINTS=${suitesparse_PREFIX}/include/suitesparse -DSUITESPARSE_LIBRARY_DIR_HINTS=${suitesparse_PREFIX}/lib -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DCMAKE_INSTALL_PREFIX=${CATKIN_DEVEL_PREFIX} -DBUILD_SHARED_LIBS=ON -DCMAKE_VERBOSE_MAKEFILE=ON -DCMAKE_BUILD_TYPE:STRING=Release -DCMAKE_CXX_FLAGS=-fPIC -DCMAKE_FIND_PACKAGE_NO_PACKAGE_REGISTRY=ON -DCMAKE_FIND_PACKAGE_NO_SYSTEM_PACKAGE_REGISTRY=ON # 指定本地仓库路径 ${CERES_SOURCE_DIR} #../ceres_src BUILD_COMMAND make -j8 INSTALL_COMMAND make install -j8 )
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修改
dbow2_catkin/CMakeLists.txt，将克隆仓库替换成本地仓库，指定本地仓库路径：# 指定DBoW2本地仓库的目录 set(DBOW2_SOURCE_DIR "/home/yu/sources/DBoW2") message(STATUS "DBOW2_SOURCE_DIR=${DBOW2_SOURCE_DIR}") ExternalProject_Add(dbow2_src # 指定本地仓库路径 SOURCE_DIR ${DBOW2_SOURCE_DIR} # 屏蔽克隆 #GIT_REPOSITORY [email protected]:dorian3d/DBoW2.git # 禁用下载 DOWNLOAD_COMMAND "" # 禁用更新 UPDATE_COMMAND "" CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CATKIN_DEVEL_PREFIX} BUILD_COMMAND CXXFLAGS=-I${CATKIN_DEVEL_PREFIX}/include make INSTALL_COMMAND make install )
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修改
eigen_catkin/CMakeLists.txt，将克隆仓库替换成本地仓库，指定本地仓库路径：# 指定eigen本地仓库的目录 set(EIGEN_SOURCE_DIR "/home/yu/sources/eigen") message(STATUS "EIGEN_SOURCE_DIR=${EIGEN_SOURCE_DIR}") ExternalProject_Add(eigen_src # 指定本地仓库路径 SOURCE_DIR ${EIGEN_SOURCE_DIR} # 禁用下载 DOWNLOAD_COMMAND "" # 禁用更新 UPDATE_COMMAND "" # 屏蔽克隆 #URL https://gitlab.com/libeigen/eigen/-/archive/3.3.4/eigen-3.3.4.tar.bz2 # 屏蔽校验 #URL_MD5 6e74a04aeab3417120f1bdef6f3b4881 PATCH_COMMAND patch -p0 < ${CMAKE_CURRENT_SOURCE_DIR}/StdVector.patch && patch -p0 < ${CMAKE_CURRENT_SOURCE_DIR}/DisableTests.patch && patch -p0 < ${CMAKE_CURRENT_SOURCE_DIR}/FixWarning.patch CMAKE_ARGS -DCMAKE_INSTALL_PREFIX:PATH=${CATKIN_DEVEL_PREFIX} -DCMAKE_BUILD_TYPE:STRING=Release -DBUILD_TESTING=OFF )
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修改
gflags_catkin/CMakeLists.txt，将克隆仓库替换成本地仓库，指定本地仓库路径：# 指定gflags本地仓库的目录 set(GFLAGS_SOURCE_DIR "/home/yu/sources/gflags") message(STATUS "GFLAGS_SOURCE_DIR=${GFLAGS_SOURCE_DIR}") ExternalProject_Add( gflags_src # 指定本地仓库路径 SOURCE_DIR ${GFLAGS_SOURCE_DIR} # 屏蔽克隆 #URL https://github.com/gflags/gflags/archive/v2.2.1.zip # 屏蔽校验 #URL_MD5 2d988ef0b50939fb50ada965dafce96b # 禁用下载 DOWNLOAD_COMMAND "" # 禁用更新 UPDATE_COMMAND "" CONFIGURE_COMMAND # 指定本地仓库路径 #cd ../gflags_src && cmake ${GFLAGS_SOURCE_DIR} #cmake . -DCMAKE_INSTALL_PREFIX:PATH=${CATKIN_DEVEL_PREFIX} -DBUILD_SHARED_LIBS:BOOL=true -DGFLAGS_NAMESPACE:STRING=google -DCMAKE_BUILD_TYPE:STRING=Release -DCMAKE_TOOLCHAIN_FILE:STRING=${CMAKE_TOOLCHAIN_FILE} BUILD_COMMAND #cd ../gflags_src && make -j 8 INSTALL_COMMAND #cd ../gflags_src && make install -j 8 )
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修改
glog_catkin/CMakeLists.txt，将克隆仓库替换成本地仓库，指定本地仓库路径：# 指定glog本地仓库的目录 set(GLOG_SOURCE_DIR "/home/yu/sources/glog") message(STATUS "GLOG_SOURCE_DIR=${GLOG_SOURCE_DIR}") set(VERSION 0.3.5) ExternalProject_Add(glog_src # 指定本地仓库路径 SOURCE_DIR ${GLOG_SOURCE_DIR} # 屏蔽克隆 #URL https://github.com/google/glog/archive/v${VERSION}.zip # 禁用下载 DOWNLOAD_COMMAND "" # 禁用更新 UPDATE_COMMAND "" PATCH_COMMAND patch -p0 < ${CMAKE_CURRENT_SOURCE_DIR}/fix-unused-typedef-warning.patch CONFIGURE_COMMAND #cd ../glog_src/ && ${GLOG_SOURCE_DIR}/autoreconf -fi && ${GLOG_SOURCE_DIR}/configure --with-pic --with-gflags=${gflags_catkin_PREFIX} --prefix=${CATKIN_DEVEL_PREFIX} BUILD_COMMAND #cd ../glog_src/ && make -j 8 INSTALL_COMMAND #cd ../glog_src/ && make install -j 8 )
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编译（有global map）
打开global map功能：
rm rpg_svo_pro_open/svo_global_map/CATKIN_IGNORE # 修改svo_cmake/cmake/Modules/SvoSetup.cmake SET(USE_GLOBAL_MAP TRUE)克隆GTSAM，或者先克隆，再切换
tag4.0.3：git clone --branch 4.0.3 [email protected]:borglab/gtsam.git
修改GTSAM的编译选项，这里要修改使用系统Eigen3库。系统自带是Eigen3.2.9，GTSAM自带的是Eigen3.3.7，而SVO2.0使用的是Eigen3.3.4，都不一样。先跳过第一个修改，用GTSAM自带的Eigen3库编译看看。如果报错，再添加cmake参数
-DGTSAM_USE_SYSTEM_EIGEN=ON看看：# 1. gtsam/CMakelists.txt: use system Eigen -option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF) +option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" ON) # 2. gtsam/cmake/GtsamBuildTypes: disable avx instruction set # below the line `list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-march=native")` list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-mno-avx")
编译安装GTSAM，使用GTSAM自带的Eigen3.3.7：
mkdir build cd build cmake .. -DGTSAM_USE_SYSTEM_EIGEN=OFF make -j6 sudo make install编译SVO2.0：
catkin build
报错，是编译器版本较低，需要适配代码：
Errors << svo_global_map:make /home/yu/ros_projects/catkin_ws_svo2.0/logs/svo_global_map/build.make.000.log In file included from /home/yu/ros_projects/catkin_ws_svo2.0/src/rpg_svo_pro_open/svo_global_map/src/gtsam/gtsam_optimizer.cpp:9:0: /home/yu/ros_projects/catkin_ws_svo2.0/src/rpg_svo_pro_open/svo_global_map/include/svo/gtsam/gtsam_optimizer.h:63:57: error: field ‘latest_estimate_state_index_’ has incomplete type ‘std::atomic<int>’ std::atomic<BundleId> latest_estimate_state_index_ {-1}; // Id of last state in estimate. ^ In file included from /usr/include/c++/5/bits/shared_ptr_atomic.h:33:0, from /usr/include/c++/5/memory:83, from /home/yu/ros_projects/catkin_ws_svo2.0/src/rpg_svo_pro_open/svo_global_map/include/svo/gtsam/gtsam_optimizer.h:3, from /home/yu/ros_projects/catkin_ws_svo2.0/src/rpg_svo_pro_open/svo_global_map/src/gtsam/gtsam_optimizer.cpp:9: /usr/include/c++/5/bits/atomic_base.h:126:12: note: declaration of ‘struct std::atomic<int>’ struct atomic; ^ In file included from /home/yu/ros_projects/catkin_ws_svo2.0/src/rpg_svo_pro_open/svo_global_map/src/gtsam/gtsam_optimizer.cpp:9:0: /home/yu/ros_projects/catkin_ws_svo2.0/src/rpg_svo_pro_open/svo_global_map/include/svo/gtsam/gtsam_optimizer.h:69:21: error: field ‘quit_thread_’ has incomplete type ‘std::atomic<bool>’ std::atomic<bool> quit_thread_; ^ In file included from /usr/include/c++/5/bits/shared_ptr_atomic.h:33:0, from /usr/include/c++/5/memory:83, from /home/yu/ros_projects/catkin_ws_svo2.0/src/rpg_svo_pro_open/svo_global_map/include/svo/gtsam/gtsam_optimizer.h:3, from /home/yu/ros_projects/catkin_ws_svo2.0/src/rpg_svo_pro_open/svo_global_map/src/gtsam/gtsam_optimizer.cpp:9: /usr/include/c++/5/bits/atomic_base.h:126:12: note: declaration of ‘struct std::atomic<bool>’ struct atomic; ^ c++: internal compiler error: Killed (program cc1plus) Please submit a full bug report, with preprocessed source if appropriate. See <file:///usr/share/doc/gcc-5/README.Bugs> for instructions. make[2]: *** [CMakeFiles/svo_global_map.dir/src/gtsam/gtsam_optimizer.cpp.o] Error 4 make[2]: *** Waiting for unfinished jobs.... c++: internal compiler error: Killed (program cc1plus) Please submit a full bug report, with preprocessed source if appropriate. See <file:///usr/share/doc/gcc-5/README.Bugs> for instructions. make[2]: *** [CMakeFiles/svo_global_map.dir/src/global_map.cpp.o] Error 4 make[1]: *** [CMakeFiles/svo_global_map.dir/all] Error 2 make: *** [all] Error 2
修改
rpg_svo_pro_open/svo_global_map/include/svo/gtsam/gtsam_optimizer.h：// 在文件开头添加 #include <atomic>
编译通过，但运行报错，没有报错信息。
卸载使用GTSAM自带的Eigen3.3.7的版本，删除编译记录，重新编译安装GTSAM，使用系统自带的Eigen3.2.9：
# 卸载使用GTSAM自带的Eigen3.3.7的版本 sudo make uninstall # 重新编译使用系统Eigen3.2.9的版本 cmake .. -DGTSAM_USE_SYSTEM_EIGEN=ON make -j6 sudo make install
编译SVO2.0：
catkin build
报错SVO2.0和GTSAM使用了不同的Eigen3版本：
Errors << svo_global_map:make /home/yu/ros_projects/catkin_ws_svo2.0/logs/svo_global_map/build.make.004.log In file included from /usr/local/include/gtsam/base/Matrix.h:27:0, from /usr/local/include/gtsam/linear/NoiseModel.h:22, from /home/yu/ros_projects/catkin_ws_svo2.0/src/rpg_svo_pro_open/svo_global_map/include/svo/gtsam/gtsam_optimizer.h:12, from /home/yu/ros_projects/catkin_ws_svo2.0/src/rpg_svo_pro_open/svo_global_map/src/gtsam/gtsam_optimizer.cpp:9: /usr/local/include/gtsam/base/Vector.h:73:1: error: static assertion failed: Error: GTSAM was built against a different version of Eigen static_assert( ^ In file included from /usr/local/include/gtsam/base/Matrix.h:27:0, from /usr/local/include/gtsam/base/Manifold.h:22, from /usr/local/include/gtsam/base/Lie.h:25, from /usr/local/include/gtsam/base/VectorSpace.h:11, from /usr/local/include/gtsam/geometry/Point2.h:20, from /usr/local/include/gtsam/geometry/Cal3_S2.h:24, from /home/yu/ros_projects/catkin_ws_svo2.0/src/rpg_svo_pro_open/svo_global_map/include/svo/gtsam/graph_manager.h:15, from /home/yu/ros_projects/catkin_ws_svo2.0/src/rpg_svo_pro_open/svo_global_map/src/gtsam/graph_manager.cpp:1: /usr/local/include/gtsam/base/Vector.h:73:1: error: static assertion failed: Error: GTSAM was built against a different version of Eigen static_assert( ^ In file included from /usr/local/include/gtsam/base/Matrix.h:27:0, from /usr/local/include/gtsam/linear/GaussianFactor.h:24, from /usr/local/include/gtsam/linear/JacobianFactor.h:21, from /usr/local/include/gtsam/linear/RegularJacobianFactor.h:21, from /usr/local/include/gtsam/slam/JacobianFactorQ.h:20, from /usr/local/include/gtsam/slam/SmartFactorBase.h:23, from /usr/local/include/gtsam/slam/SmartProjectionFactor.h:22, from /usr/local/include/gtsam/slam/SmartProjectionPoseFactor.h:22, from /home/yu/ros_projects/catkin_ws_svo2.0/src/rpg_svo_pro_open/svo_global_map/src/global_map.cpp:6: /usr/local/include/gtsam/base/Vector.h:73:1: error: static assertion failed: Error: GTSAM was built against a different version of Eigen static_assert( ^ make[2]: *** [CMakeFiles/svo_global_map.dir/src/gtsam/gtsam_optimizer.cpp.o] Error 1 make[2]: *** Waiting for unfinished jobs.... make[2]: *** [CMakeFiles/svo_global_map.dir/src/global_map.cpp.o] Error 1 make[2]: *** [CMakeFiles/svo_global_map.dir/src/gtsam/graph_manager.cpp.o] Error 1 make[1]: *** [CMakeFiles/svo_global_map.dir/all] Error 2 make: *** [all] Error 2
要让GTSAM使用SVO2.0一样的Eigen3，先查询到SVO2.0使用的Eigen3库的路径：
SVO_EIGEN_PATH=$(find /home/yu/ros_projects/catkin_ws_svo2.0 -path "*/include/eigen3/Eigen/Core" 2>/dev/null | head -1 | xargs dirname | xargs dirname) echo "SVO Eigen 路径: $SVO_EIGEN_PATH"
SVO Eigen 路径: /home/yu/ros_projects/catkin_ws_svo2.0/devel/include/eigen3
修改
gtsam/CMakeLists.txt，使用SVO2.0用Eigen3：if(GTSAM_USE_SYSTEM_EIGEN) else() # Use bundled Eigen include path. # Clear any variables set by FindEigen3 # 屏蔽，指定目录 #if(EIGEN3_INCLUDE_DIR) # set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE) #endif() # set full path to be used by external projects # this will be added to GTSAM_INCLUDE_DIR by gtsam_extra.cmake.in # 屏蔽，指定目录 #set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "include/gtsam/3rdparty/Eigen/") message(STATUS "EIGEN3_INCLUDE_DIR=${EIGEN3_INCLUDE_DIR}") set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "${EIGEN3_INCLUDE_DIR}") # The actual include directory (for BUILD cmake target interface): # 屏蔽，指定目录 #set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${CMAKE_SOURCE_DIR}/gtsam/3rdparty/Eigen/") set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${EIGEN3_INCLUDE_DIR}") endif()
卸载使用系统Eigen3.2.9版本的GTSAM，清空编译目录，重新编译安装使用SVO2.0的Eigen3。3.4版本的GTSAM：
cmake .. -DEIGEN3_INCLUDE_DIR=/home/yu/ros_projects/catkin_ws_svo2.0/devel/include/eigen3
重新编译SVO2.0：
catkin build
编译通过，但运行正常。
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运行SVO2.0（无global map）
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运行数据集
# 终端1 source ~/svo_ws/devel/setup.bash # launch svo roslaunch svo_ros euroc_vio_mono.launch # 终端2 source ~/svo_ws/devel/setup.bash # run the EuRoC bag rosbag play V2_02_medium.bag -s 10
报错，未知的参数
v，并没有生成日志文件svo-2*.log：ERROR: unknown command line flag 'v' [svo-2] process has died [pid 50362, exit code 1, cmd /home/yu/ros_projects/catkin_ws_svo2.0/devel/lib/svo_ros/svo_node --v=0 __name:=svo __log:=/home/yu/.ros/log/6204bd9e-e15f-11f0-9e05-000c29a2bada/svo-2.log]. log file: /home/yu/.ros/log/6204bd9e-e15f-11f0-9e05-000c29a2bada/svo-2*.log
在
euroc_vio_mono.launch中的节点参数--v=0未知：<node pkg="svo_ros" type="svo_node" name="svo" clear_params="true" output="screen" args="--v=0" >
查看节点支持的参数：
rosrun svo_ros svo_node --helpfull
以
v开头的只有version一个参数：svo_node: Warning: SetUsageMessage() never called Flags from /home/yu/ros_projects/catkin_ws_svo2.0/src/rpg_svo_pro_open/svo_ceres_backend/src/ceres_backend_interface.cpp: -extrinsics_sigma_rel_orientation (Relative translation sigma (temporal) of camera extrinsics) type: double default: 0 -extrinsics_sigma_rel_translation (Relative translation sigma (temporal) of camera extrinsics) type: double default: 0 Flags from /home/yu/sources/gflags/src/gflags.cc: -flagfile (load flags from file) type: string default: "" -fromenv (set flags from the environment [use 'export FLAGS_flag1=value']) type: string default: "" -tryfromenv (set flags from the environment if present) type: string default: "" -undefok (comma-separated list of flag names that it is okay to specify on the command line even if the program does not define a flag with that name. IMPORTANT: flags in this list that have arguments MUST use the flag=value format) type: string default: "" Flags from /home/yu/sources/gflags/src/gflags_completions.cc: -tab_completion_columns (Number of columns to use in output for tab completion) type: int32 default: 80 -tab_completion_word (If non-empty, HandleCommandLineCompletions() will hijack the process and attempt to do bash-style command line flag completion on this value.) type: string default: "" Flags from /home/yu/sources/gflags/src/gflags_reporting.cc: -help (show help on all flags [tip: all flags can have two dashes]) type: bool default: false -helpfull (show help on all flags -- same as -help) type: bool default: false currently: true -helpmatch (show help on modules whose name contains the specified substr) type: string default: "" -helpon (show help on the modules named by this flag value) type: string default: "" -helppackage (show help on all modules in the main package) type: bool default: false -helpshort (show help on only the main module for this program) type: bool default: false -helpxml (produce an xml version of help) type: bool default: false -version (show version and build info and exit) type: bool default: false
支持参数列表里没有符合的，尝试删除该参数：
<node pkg="svo_ros" type="svo_node" name="svo" clear_params="true" output="screen" >
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正常输出所有数据
Theta -0.00171444 Theta -0.00569899 Theta 0.0142994 Theta 0.00840861 Will recompute 8 IMU terms. [ WARN] [1766645912.803956485]: Backend scale not stable. [ WARN] [1766645914.610110041]: Backend scale not stable. [ WARN] [1766645918.003401836]: Backend scale not stable. [ WARN] [1766645918.657674430]: Backend scale not stable. [ WARN] [1766645919.005680395]: Backend scale not stable. [ WARN] [1766645919.504601822]: Backend scale not stable. [ WARN] [1766645925.252817654]: Backend scale not stable. ^C[vis-3] killing on exit [svo-2] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done
[RUNNING] Bag Time: 1403715418.863469 Duration: 137.145919 / 137.165852 [RUNNING] Bag Time: 1403715418.868505 Duration: 137.150954 / 137.165852 [RUNNING] Bag Time: 1403715418.873469 Duration: 137.155919 / 137.165852 Done.
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-
运行SVO2.0（有global map）
-
运行数据集
# 终端1 source ~/svo_ws/devel/setup.bash # launch svo roslaunch svo_ros euroc_global_map_mono.launch # 终端2 source ~/svo_ws/devel/setup.bash # run the EuRoC bag rosbag play V2_02_medium.bag -s 10
节点参数的错误不在此重复记录了。
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正常输出所有数据
Conditional number threshold for points are negative, will not use the conditional number as a criteria. Use both IMU and relative constraints. Will only be used when the integration time is too long. E1225 17:25:30.152567 56743 global_map.cpp:124] Use the focal length of the first camera to scale error.Should implement for individual camera in the future. GraphManager: Initialized noise for default fixation: Point: isotropic dim=3 sigma=0.0001 Pose: diagonal sigmas[1.74532925e-08; 1.74532925e-08; 1.74532925e-08; 1e-06; 1e-06; 1e-06]; Visual Inertial inital pose: 0.616850275 0 0 0 0 0 0 0.616850275 0 0 0 0 0 0 3.0461742e-16 0 0 0 0 0 0 1e-12 0 0 0 0 0 0 1e-12 0 0 0 0 0 0 1e-12 GlobalMap: Initialized noise for immature states: - Relative Pose: diagonal sigmas[0.0872664626; 0.0872664626; 0.0872664626; 0.1; 0.1; 0.1]; [ INFO] [1766712330.153263559]: SvoNode: Started IMU loop. [ INFO] [1766712330.156859983]: Found parameter: imu_topic, value: /imu0 [ INFO] [1766712333.153772508]: SvoNode: Started Image loop. [ WARN] [1766712333.155132357]: Cannot find value for parameter: remote_key_topic, assigning default: svo/remote_key [ INFO] [1766712333.159636813]: Found parameter: cam0_topic, value: /cam0/image_raw [ INFO] [1766712394.764721967]: DepthFilter: RESET. [ INFO] [1766712394.943573665]: Init: Triangulated 167 points [ INFO:0] Initialize OpenCL runtime... [ WARN] [1766712405.372208624]: Backend scale not stable.
[RUNNING] Bag Time: 1403715418.868513 Duration: 137.150963 / 137.165852 [RUNNING] Bag Time: 1403715418.873474 Duration: 137.155923 / 137.165852 [RUNNING] Bag Time: 1403715418.878517 Duration: 137.160966 / 137.165852 Done.
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