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我们想在自己的无人机平台上测试效果，平台是基于ROS搭建的，请问用什么方式把apptracking得到的pose发送给ROS？直接将Pose通过UDP的方式发送给ROS可以吗？

您好，使用如下命令，启动模组，总是出现花屏，相关log如下 ，请帮忙分析下是什么原因？谢谢
(ubuntu16.04, USB3.0,)
./app_tracking -sensor_type XP3 -cam_calib_path Z173711526.yaml -pb_save /map/home7.pb

4a5c2230-5807-4359-8e40-21db05ef65d4.txt
6d1c7447-0624-45fc-b288-e778b4575087.txt
738953fb-e385-46fe-ab8a-b28074ee3839.txt

when i run app_tracking around the building, sometimes it works,,,but also got something wrong.

E0312 13:23:26.400254 19484 bundle_adjuster.cc:1601] Optimize3dPoints takes too long (overall) 118 ms map points # 59111 add_constraints_ms 110 ceres_solution_ms 7 save_result_ms 0 remove_outlier_ms 0

ubuntu 16.04
Intel® Core™ i7-7600U CPU @ 2.80GHz × 4

here is my command and log file.

./app_tracking -sensor_type XP2 -calib_file calib.yaml -record_map_only -record_path /home/ling/XP_release/boteye/apps/build/app_tracking/tmp/

app_tracking.ling-ThinkPad-X1-Carbon-5th.ling.log.WARNING.20190312-131629.log

Sorry to bother u,,, I got an interesting scene when i test the app_tracking program by pushing a small cart in a flat hallway of my school building..., i get the pose(px,py,pz&qw,qx,qy,qz) result by UDP transportation , and change it to ros-path type, and show it in RViz...The result is interesting that the position-z changes a lot(growing) with going forward ..Previous test in a playground also has the scene, but i think it is the reason that playground is not flat ,imu performance would get worse with the body shake..More interesting is that pz grows with going forward, and decrease with going backward(ahhh...seems like correct, seems like the origin is where zero point,,,Maybe it is because the different gravity parameter between Beijing and Shanghai )...I got some pics showing below..How to avoid this problem?,,,Thank u for your explaination!!

https://github.com/Markbess/boteye_ros

1."Run the following command to extract it to your root directory(make sure the entire folder is included in the root directory, not just the contents within):
tar -xvf lib_x86_64.tar.gz"

"the root directory" is /home/user***/XP_release/boteye/apps!
2. I calibrate the camera useing the lastest code,but the image is wrong.
I think you should use usb3.0,not usb2.0.
3.press spacebar can't save image.
take mouse on image and press spacebar !
4.get color image : XP3
5. -auto_gain true : ./xp_sensor_logger -record_path /tmp/record1 -sensor_type XP3 -calib_mode -auto_gain true
6. "./xp_sensor_logger -calib_verify -calib_yaml ./tmp/calib.yaml -sensor_type XP2"
should be "./xp_sensor_logger -calib_verify -calib_yaml /tmp/calib.yaml -sensor_type XP2"

./app_tracking -sensor_type XP2 -calib_file xxxxx.yaml -pb_load /tmp/room.pb

我录制的地图是这样的，都是不连续的点

官方文档中录制的地图是这样的

我的机器配置是 i5 4260u CPU @1.40GHz * 4
系统：ubuntu 14.04 lts

请问是哪里出问题啦？

when i run ......-record_map_only -record_path , it's not work..

./app_tracking -sensor_type XP2 -calib_file ~/boteye/XPIAC2SET182550007.yaml -record_map_only -record_path ~/boteye/room.pb
Skip /dev/video0 name EasyCamera: EasyCamera
Find a Baidu_Robotics_vision_XP2S dev at /dev/video1
ioctl(fd, VIDIOC_S_FMT, &format) failed. code -1 dev
cannot be init
VIDIOC_STREAMOFF failed. fd 5
E0312 15:04:59.215260 9247 app_tracking.cpp:508] !live::init_XP_sensor()

执行保存地图指令发生错误

$./app_tracking -sensor_type XP2 -calib_file ~/XP_release/XPIAC2SET182550007.yaml -pb_save /tmp/room.pb
ERROR:unknown command line flag 'pb_save'

您好，下载3rdparty_lib_lean的时候显示：
{"code":"RequestExpired","message":"Request has expired. Timestamp date is 2018-06-15T13:03:47+08:00","requestId":"d0c767ab-0022-4dc6-914f-4d94798ab5c3"}
请问怎样才能解决呢？
谢谢

Pre-built libraries-Ubuntu 14.04(Updated 08-20-2018): lib_x86_64.tar.gz download error

{"code":"RequestExpired","message":"Request has expired. Timestamp date is 2018-11-19T16:45:09+08:00","requestId":"c2c7199d-6f48-490e-bc16-c3387f9ce078"}

I want to know how it works.

IMU的频率显示为97-98Hz,并没有100Hz,正常吗?还有一个问题,IMU的频率可调吗?驱动程序里面似乎也没有看到用来调整到的IMU频率的函数?

zzy@zzy-ThinkPad-T430s:~/XP_release/boteye/apps/build$ cmake ..
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- 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 Eigen3 at Eigen_INCLUDE_DIR = /usr/include/eigen3
-- Found OpenCV 3.0.0 at /home/zzy/XP_release/3rdparty_lib_lean
-- OpenCV contains the following libs
-- opencv_viz
-- opencv_videostab
-- opencv_videoio
-- opencv_video
-- opencv_superres
-- opencv_stitching
-- opencv_shape
-- opencv_photo
-- opencv_objdetect
-- opencv_ml
-- opencv_imgproc
-- opencv_imgcodecs
-- opencv_highgui
-- opencv_hal
-- opencv_flann
-- opencv_features2d
-- opencv_core
-- opencv_calib3d
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   filesystem
--   system
-- Found libopencv_viz
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
XP_DRIVER_LIBRARY
    linked by target "app_tracking" in directory /home/zzy/XP_release/boteye/apps/app_tracking
    linked by target "xp_sensor_logger" in directory /home/zzy/XP_release/boteye/apps/xp_sensor_logger
XP_LIBRARY
    linked by target "app_tracking" in directory /home/zzy/XP_release/boteye/apps/app_tracking
    linked by target "pose_receiver" in directory /home/zzy/XP_release/boteye/apps/app_tracking
    linked by target "xp_sensor_logger" in directory /home/zzy/XP_release/boteye/apps/xp_sensor_logger
    linked by target "cam_calibration" in directory /home/zzy/XP_release/boteye/apps/cam_calibration

-- Configuring incomplete, errors occurred!
See also "/home/zzy/XP_release/boteye/apps/build/CMakeFiles/CMakeOutput.log".

您好，两个库文件都已安装没有问题，但是cmake时候找不到XP_DRIVER_LIBRARY这个，该如何解决？

1. did the generated disparity map by multilevel_stereoBM align to left or right image? before or after rectify / undistort?
2. how to connect the calculated homo points(x y z) with rgb image? can you give an example?

I happened to know this SLAM algorithm and I am quite curious about it. But it's disappointing that I couldn't find ever any videos or implements of this SLAM algorithm describing its greatness as what the hector slam, cartographer and gmapping do. Also there is no article related to it. As an open source SLAM algorithm, that's strange. Could you give me some tips for finding these treasure ?
I have read the Tech Specs in the introduction page. Several questions appear as below:

1. SLAM laterncy < 10 us? Hard to believe. If its true, so it's a realtime algorithm. (Here I regard the SLAM laterncy as the map update rate).
2. Also I have no idea with the SLAM error concept.
   Could anyone answer my confusions about this algorithm?
   Best wishes.

ubuntu16.04 运行./app_tracking -sensor_type XP2 -calib_file xxxxx.yaml出现以下结果：

Find a Baidu_Robotics_vision_XP2S dev at /dev/video0
read_soft_version:get ioctl failed code 105 err Buffer size does not match control size
*** Please update firmware ***
read device_id ioctl failed code 105 err Buffer size does not match control size
E0821 15:48:21.849987 27370 app_tracking.cpp:625] !live::init_XP_sensor()

Hi, I have test the system for about 500m, the state estimation error were very large when the distance was about 300-400m. Do you have any idea about the problem?

I want to use slam sdk and raw data of the sensor, do you have a plan to write a ros wrapper？

Find a Baidu_Robotics_vision_XP3 dev at /dev/video0
Current firmware version: 0.8.5
device ID: �����������������������������������������������������������������������������������������������������
driver works in white balance preset mode, (r, g, b) = (1.46582, 1, 1.33606)
loading dic: /home/robot/XP_release/3rdparty_lib_lean/BOW.proto ok!
You are running headless OS. No X windows will be shown.
Warning: frame :4 detect imcomplete image
Warning: frame :7 detect imcomplete image
Warning: frame :8 detect imcomplete image
Warning: frame :11 detect imcomplete image
Warning: frame :12 detect imcomplete image
Warning: frame :13 detect imcomplete image
Warning: frame :14 detect imcomplete image
Warning: frame :15 detect imcomplete image
Warning: frame :17 detect imcomplete image
Warning: frame :18 detect imcomplete image
Warning: frame :19 detect imcomplete image
Warning: frame :20 detect imcomplete image
Warning: frame :21 detect imcomplete image
Warning: frame :22 detect imcomplete image
Warning: frame :23 detect imcomplete image
Warning: frame :25 detect imcomplete image
Warning: frame :26 detect imcomplete image
Warning: frame :27 detect imcomplete image
Warning: frame :29 detect imcomplete image
Warning: frame :31 detect imcomplete image
Warning: frame :32 detect imcomplete image
Warning: frame :33 detect imcomplete image
Warning: frame :35 detect imcomplete image
Warning: frame :36 detect imcomplete image
Warning: frame :38 detect imcomplete image
Warning: frame :40 detect imcomplete image
Warning: frame :41 detect imcomplete image
Warning: frame :43 detect imcomplete image
Warning: frame :44 detect imcomplete image
Warning: frame :45 detect imcomplete image
Warning: frame :47 detect imcomplete image
Warning: frame :48 detect imcomplete image
Warning: frame :51 detect imcomplete image
Warning: frame :52 detect imcomplete image
Warning: frame :53 detect imcomplete image
Warning: frame :54 detect imcomplete image
Warning: frame :55 detect imcomplete image
Warning: frame :56 detect imcomplete image
Warning: frame :57 detect imcomplete image
Warning: frame :58 detect imcomplete image
Warning: frame :59 detect imcomplete image
Warning: frame :60 detect imcomplete image
Warning: frame :61 detect imcomplete image
Warning: frame :62 detect imcomplete image
Segmentation fault (core dumped)

when I run this program , there are always BA failed errors but the program still work and localize well(I think),there somenoe konw why?

much thanks!

我这边想在 闭环优化的时候 添加一些输出的内容和轨迹文件的保存
在app_tracking.cpp中没有找到具体代码所在的位置..
谢谢

I execute the following command:
./cam_calibration -folder_path /tmp/record1/ -square_size 0.033 -save_calib_yaml /tmp/calib.yaml -show_reproj
A few minutes later,error is as follows:

Detected tags from 91 imgs from Camera 0
Detected tags from 91 imgs from Camera 1
[OK] point distribution check for camera 0
Camera 0: total 91 images with 7088 corners detected
[OK] point distribution check for camera 1
Camera 1: total 91 images with 7676 corners detected
ransac exp 0 seed_reproj_error 0.397127 final_reproj_error 0.405298 inlier num 91
all imgs are inliers. Done
final K =
[408.1706430222459, 0, 327.8569149919851;
0, 409.0376657543013, 242.3110932938893;
0, 0, 1]
final dist =
[1.861082466886896;
0.5252562271623336;
0;
0;
0.01266580808627123;
2.345705091360644;
1.280926958937702;
0.1172434369932697;
0;
0;
0;
0]
*** Aborted at 1512613026 (unix time) try "date -d @1512613026" if you are using GNU date ***
PC: @ 0x7fda9a9ccbe9 cv::Mat::create()
*** SIGSEGV (@0x1c) received by PID 10479 (TID 0x7fda9e4dca80) from PID 28; stack trace: ***
@ 0x7fda99b674b0 (unknown)
@ 0x7fda9a9ccbe9 cv::Mat::create()
@ 0x454f9b cv::Mat::create()
@ 0x45a4ab cv::Mat_<>::create()
@ 0x44d81c main
@ 0x7fda99b52830 __libc_start_main
@ 0x448df9 _start
@ 0x0 (unknown)
Segmentation fault (core dumped)

3rdparty_lib_lean.tar.gz download error!

CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
XP_LIBRARY

你好，我刚接触这方面内容，所以有不少问题想要跟大佬们请教一下：
问题一，标定文件中，大多数都是简写，我是小白所以希望大佬能帮忙解释一下各个参数的含义，Imu: accel_TK，accel_bias，gyro_TK，gyro_bias， accel_noise_var， angv_noise_var，D_T_I。Camera: D_T_C_l，D_T_C_r，cameraK_l， cameraK_r，dist_coeff_l，dist_coeff_r， img_size。
问题二，imu和camera之间的坐标变换矩阵又是如何进行确定的。
问题三，我想得到imu标定参数，包括1、加速度计测量噪声标准偏差。2、陀螺仪测量噪声标准偏差。3、加速度计偏置随机工作噪声标准偏差。4、陀螺仪偏置随机工作噪声标准偏差。5、重力量级。
问题四、我使用了本产品作为slam的输入，但是出现了跑飞的情况，即使摄像机不动，仍然会飞出很远，请问这是什么原因引起的。
再次感谢各位大佬对我进行指导。

您好，在做循迹导航时，经常会出现这个错误，请问可能是什么原因？谢谢
app_tracking.felix-Lenovo-V3000.felix.log.ERROR.20180608-081921.txt

你好，麻烦提供一下 ARM64的软件，谢谢！

目前提供的范例里面是在导航的时候会通过UDP方式的发布导航的信息给guide_receiver或者底盘

想问一下，如果我想在 执行记录轨迹命令 开启时也可以通过UDP发一些指定的数据出去，在app_tracking.cpp中大致需要如何改动呢？

谢谢。

在使用0.14.58版本时，按照网站操作，可以建图并显示，但是无法定位。
无论是旋转还是前后推。
不知道是程序问题还是什么原因。
使用XP2摄像头，固件版本0.85以上
Ubuntu16.04

将对应的两个软件包解压安装好之后,使用程序前需要在新的命令行窗口设置一次环境变量

但是文件里面找不到脚本文件,提示为 bash:config_environment.bash : 没有那个文件或目录

有人知道是为什么吗? 谢谢

您好，我在使用循迹导航功能时，发现导航信息总是比预设轨迹要提早转向，比如应该在某个位置左转，但给出的导航信息却提前1米要求转向了。如下图，机器才在一个方向走了一半，导航信息就给出转向要求了，能帮忙分析下是什么原因么？

when i run
./app_tracking -sensor_type XP2 -calib_file ~/boteye/XPIAC2SET182550007.yaml -pb_load ~/mapRecord/room.pb/live.pb -navi_config walk -guide_ip 127.0.0.1 -guide_port 8889

output:
E0314 10:20:08.441303 3287 covisibility_graph.cc:230] !rig_and_bow.getMatchScore(ref_rig_ptr, node.first)
E0314 10:20:08.441468 3287 covisibility_graph.cc:66] calcNeighborsAndWeightsWithBoW failed
Loading /home/king/mapRecord/room.pb/live.pb took 849.387 ms
try reloc with rig 143.43
try reloc with rig 137.126
try reloc with rig 145.558
try reloc with rig 167.258
try reloc with rig 137.126
try reloc with rig 157.35
try reloc with rig 145.558
viomapper addpose loop 0 completed. Reloc done.

and another terminal:
./guide_receiver

output:
king@king-Lenovo-XiaoXin-CHAO7000:~/XP_release/0.14.58/bin$ ./guide_receiver
Start receiving guide messages at port 8889...

Hello there,
Thank you for your great work. I test the whole camera XP2 and program .
The platform is
cpu i7 7700
system :Ubuntu 14.04 with kernel 4.4.0-31
Question : there is only camera trajectory show as below, and failed to save map ,instead give many log files in the given path? Is that a normal display?

target_link_libraries(${PROJECT_NAME}
${GLOG_LIBRARY}
${GFLAGS_LIBRARY}
${XP_LIBRARY}
${OpenCV_LIBRARIES}
${XP_DRIVER_LIBRARY}
)
少了一个${XP_DRIVER_LIBRARY}，导致编译错误出现这样

app_tracking.cpp:(.text+0x1f8d)：对‘XPDRIVER::XpSensorMultithread::run()’未定义的引用
app_tracking.cpp:(.text+0x2c34)：对‘XPDRIVER::XpSensorMultithread::stop()’未定义的引用
CMakeFiles/app_tracking.dir/app_tracking.cpp.o：在函数‘std::default_deleteXPDRIVER::XpSensorMultithread::operator()(XPDRIVER::XpSensorMultithread*) const’中：
app_tracking.cpp:(.text.ZNKSt14default_deleteIN8XPDRIVER19XpSensorMultithreadEEclEPS1[ZNKSt14default_deleteIN8XPDRIVER19XpSensorMultithreadEEclEPS1]+0x1e)：对‘XPDRIVER::XpSenrMultithread::~XpSensorMultithread()’未定义的引用

您好,我在尝试运行app_tracking时遇到了下面的错误:
Illegal instruction (core dumped)
使用gdb查看了一下,显示:
Program terminated with signal SIGILL, Illegal instruction.
#0 0x00007f00e619e836 in vio::cameras::NCameraSystem::computeOverlaps() ()
from /home/xukuan/software/boteye/boteye/lib_x86_64/libXP.so
#1 0x00007f00e617f594 in DuoVioTracker::DuoVioTracker(XP::DuoCalibParam const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, vio::VioParameters const&, std::shared_ptr<XP_DRIVER::XpSensorMultithread> const&, bool, bool) ()
from /home/xukuan/software/boteye/boteye/lib_x86_64/libXP.so
#2 0x00007f00e6197bb2 in XP_TRACKER::init_tracker(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, bool, bool) () from /home/xukuan/software/boteye/boteye/lib_x86_64/libXP.so
#3 0x000000000041b686 in main ()

我使用的标定文件是calib_params/BK171200025.yaml,请问这是什么问题啊?

when I set EnableRecognition flag is true, couldn't include baidu AI interface as belows:
XP
└── util
└── aip
├── base
│ ├── base.h // 请求客户端基类
│ ├── base64.h // base64加密相关类
│ ├── http.h // http请求封装类
│ └── utils.h // 工具类
├── ocr.h // 文字识别
├── image_classify // 图像识别
├── face.h // 人脸识别
└── speech.h // 语音识别，语音合成

ubuntu 16.04 64位

CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
XP_DRIVER_LIBRARY
linked by target "xp_sensor_logger" in directory /home/strong/XP_release/boteye-master/apps/xp_sensor_logger
XP_LIBRARY
linked by target "app_tracking" in directory /home/strong/XP_release/boteye-master/apps/app_tracking
linked by target "pose_receiver" in directory /home/strong/XP_release/boteye-master/apps/app_tracking
linked by target "xp_sensor_logger" in directory /home/strong/XP_release/boteye-master/apps/xp_sensor_logger
linked by target "cam_calibration" in directory /home/strong/XP_release/boteye-master/apps/cam_calibration

在mac下装了一个干净的ubuntu 16.04 LTS ,运行source 3rdparty_lib_lean/update.sh，终端闪崩。看不清楚什么错误，查询日志也没有结果。请问大概是什么问题？

could not find the png file

I test boteye in a greenhouse for Tomato.
There are about 100 rows crops.
There's a natural dirt road between each row,on which my robot run.
You can refer the pic below.

It seems like that ,before BA, the trajectory is consistent with the actual.

But after BA, the trajectory have large deformation.
The roundnd trip trajectory is not consistent.

So My question is:

1. Is boteye fit for greenhouse scene?because the crop will grow day by day.
2. Why the trajectory have large deformation before & after BA?
   3.I test boteye in a greenhouse for Tomato.
   There are about 100 rows crops.
   There's a natural dirt road between each row,on which my robot run.
   You can refer the pic below.
   

It seems like that ,before BA, the trajectory is consistent with the actual.

But after BA, the trajectory have large deformation.
The roundnd trip trajectory is not consistent.

So My question is:

1. Is boteye fit for greenhouse scene, because the crop will grow significantly week by week?
2. Why the trajectory have large deformation before & after BA?
3. Will sunlight at different time cause diffrenet feature points in the same scene filled with crops?

我在启动相机一段时间后，会出现XPDRIVER::IMU_DataAccess failed的提示，并且相机停止工作。请问这是什么原因，如何修复？
我在驱动中找到了这段代码，但是没有理解错误产生的原因。
// [NOTE] We have to flip the axes properly to align IMU coordinates with Camera L
// The stored time_stamp is in 100us
XPDRIVER::ImuData xp_imu;
convert_imu_axes(imu_data, sensor_type_, &xp_imu);
xp_imu.time_stamp = (clock_count_wo_overflow - first_imu_clock_count_) * clock_unit_ms * 10;
if (imu_data_callback_ != nullptr) {
imu_data_callback_(xp_imu);
}

  ++pull_imu_count_;
  if (pull_imu_count_ > 10) {
    const int ms = std::chrono::duration_cast<std::chrono::milliseconds>(
        steady_clock::now() - thread_pull_imu_pre_timestamp_).count();
    thread_pull_imu_pre_timestamp_ = steady_clock::now();
    pull_imu_rate_ = pull_imu_count_ * 1000 / ms;
    pull_imu_count_ = 0;
  }
} else {
  XP_LOG_ERROR("XPDRIVER::IMU_DataAccess failed");
}

亲爱的工程师大大们 ： 我们购买了百度的这个双目摄像头 因为项目相关我们需要对深度图像有一个很高的要求。然后使用过程中遇到两个问题希望能得到你们的帮助。第一个就是上图中的深度图像中有些黑色的部分我们想知道这是怎样造成的 是检测不出来还是其他。另一个问题就是我们的深度图像存取路径。 我们需要对深度图像的像素做一些分析但是这个模组并没有提取图像的方式 在深度图像方面的介绍很少 。以上就是我的问题希望可以得到解决 谢谢

Ubuntu 16.04
Intel® Core™ i7-7500U CPU @ 2.70GHz

我执行 /trajectory_maker 的命令时，出现 load Waypoints.csv failed，and core dump...

$./bin/trajectory_maker --navigation_folder=/home/king/mapRecord/roome.pb/navigation/

E0315 10:17:01.403987  4951 navigation_utils.cpp:35] Waypoints load failed, filename: /home/king/mapRecord/roome.pb/navigation//waypoints.csv
F0315 10:17:01.405457  4951 path_planner_lib.cpp:127] Check failed: world_T_map.rows == 3 (0 vs. 3) 
*** Check failure stack trace: ***
    @     0x7f6cf53215cd  google::LogMessage::Fail()
    @     0x7f6cf5323433  google::LogMessage::SendToLog()
    @     0x7f6cf532115b  google::LogMessage::Flush()
    @     0x7f6cf5323e1e  google::LogMessageFatal::~LogMessageFatal()
    @     0x7f6cf4ed8d6a  PathPlanner::LoadMapSpecs()
    @           0x402b25  main
    @     0x7f6cf3954830  __libc_start_main
    @           0x4047f9  _start
    @              (nil)  (unknown)
已放弃 (核心已转储)

室内导航时，总是返回status=2.说是要调算法，以降低算法对障碍物的敏感度，不知能调到什么程度，室内0.5米左右的路能通过吗？

When I tested "F" type path with Boteye, the track of round trip could not coincide with each other and there was a error when I built the map. Is it true that the SDK of Boteye is not suitable for this kind of map building scenario, but only suitable for "口"type path?

ubuntu 16.04 64位 ,環境有搭建好 有參考 https://github.com/baidu/boteye/issues/22，但是沒有幫助。
所以再提一個問題，請盡快幫忙解答下，感謝！！！
具體日志如下(我的郵箱 [email protected])：
slog@PF:~/be$ mkdir -p boteye/apps/build; cd boteye/apps/build; cmake ..; make -j8; cd -;
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- 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 Eigen3 at Eigen_INCLUDE_DIR = /usr/include/eigen3
-- Found OpenCV 3.0.0 at /home/slog/XP_release/3rdparty_lib_lean
-- OpenCV contains the following libs
-- opencv_viz
-- opencv_videostab
-- opencv_videoio
-- opencv_video
-- opencv_superres
-- opencv_stitching
-- opencv_shape
-- opencv_photo
-- opencv_objdetect
-- opencv_ml
-- opencv_imgproc
-- opencv_imgcodecs
-- opencv_highgui
-- opencv_hal
-- opencv_flann
-- opencv_features2d
-- opencv_core
-- opencv_calib3d
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- filesystem
-- system
-- thread
-- chrono
-- date_time
-- atomic
-- Found libopencv_viz
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
XP_DEPTH_LIBRARY
linked by target "app_tracking" in directory /home/slog/be/boteye/apps/app_tracking
linked by target "pose_receiver" in directory /home/slog/be/boteye/apps/app_tracking
linked by target "xp_sensor_logger" in directory /home/slog/be/boteye/apps/xp_sensor_logger
linked by target "cam_calibration" in directory /home/slog/be/boteye/apps/cam_calibration
XP_PARAM_LIBRARY
linked by target "app_tracking" in directory /home/slog/be/boteye/apps/app_tracking
linked by target "pose_receiver" in directory /home/slog/be/boteye/apps/app_tracking
linked by target "xp_sensor_logger" in directory /home/slog/be/boteye/apps/xp_sensor_logger
linked by target "cam_calibration" in directory /home/slog/be/boteye/apps/cam_calibration
XP_TIMER_LIBRARY
linked by target "app_tracking" in directory /home/slog/be/boteye/apps/app_tracking
linked by target "pose_receiver" in directory /home/slog/be/boteye/apps/app_tracking
linked by target "xp_sensor_logger" in directory /home/slog/be/boteye/apps/xp_sensor_logger
linked by target "cam_calibration" in directory /home/slog/be/boteye/apps/cam_calibration

-- Configuring incomplete, errors occurred!
See also "/home/slog/be/boteye/apps/build/CMakeFiles/CMakeOutput.log".
See also "/home/slog/be/boteye/apps/build/CMakeFiles/CMakeError.log".
make: *** No targets specified and no makefile found. Stop.
/home/slog/be
slog@PF:~/be$