ethz-asl / minkindr Goto Github PK

hi， frist thank you so much to check my issue. Issue description as follows:

Device: Nvidia Jetson Nano
System: Ubuntu18.04

I did following operations to meet the issue:
1、catkin build -> svo . URL: https://github.com/uzh-rpg/rpg_svo_pro_open
minkindr_python is a package to be build in the svo project.
2、 Error appears

Errors << minkindr_python:cmake /home/xxx/svo_ws/logs/minkindr_python/build.cmake.002.log
CMake Error at /home/xxx/svo_ws/devel/share/catkin_simple/cmake/catkin_simple-extras.cmake:38 (find_package):
By not providing "Findcatkin_boost_python_buildtool.cmake" in
CMAKE_MODULE_PATH this project has asked CMake to find a package
configuration file provided by "catkin_boost_python_buildtool", but CMake
did not find one.

Could not find a package configuration file provided by
"catkin_boost_python_buildtool" with any of the following names:

catkin_boost_python_buildtoolConfig.cmake
catkin_boost_python_buildtool-config.cmake

Add the installation prefix of "catkin_boost_python_buildtool" to
CMAKE_PREFIX_PATH or set "catkin_boost_python_buildtool_DIR" to a directory
containing one of the above files. If "catkin_boost_python_buildtool"
provides a separate development package or SDK, be sure it has been
installed.
Call Stack (most recent call first):
CMakeLists.txt:5 (catkin_simple)

Something like:

Eigen::Matrix<double, 3, Eigen::Dynamic> W_landmarks;
Transformation T_B_W;
// ... fill in.

Eigen::Matrix<double, 3, Eigen::Dynamic> B_landmarks(T_B_W.transform(W_landmarks));

CMake Error at eigen_checks/build/devel/share/eigen_checks/cmake/eigen_checksConfig.cmake:173 (message):
Project 'minkindr' tried to find library 'eigen_checks'. The library is
neither a target nor built/installed properly. Did you compile project
'eigen_checks'? Did you find_package() it before the subdirectory
containing its code is included?
Call Stack (most recent call first):
catkin_simple/build/devel/share/catkin_simple/cmake/catkin_simple-extras.cmake:38 (find_package)
CMakeLists.txt:5 (catkin_simple)

I already downloaded and build all it's dependencies so why cant it build?

do you try in windows?

Could make use of matrix multiplication for rotation, but vectorized batch addition A_t_A_B_ seems not to come with Eigen.

Currently, with virtual destructors:

sizeof(Quaternion) = 48 bytes
sizeof(Transformation) = 96 bytes

without virtual destructors:

sizeof(Quaternion) = 32 bytes
sizeof(Transformation) = 64 bytes

most of our tools rely just on minkindr, not minkindr_gtsam, which brings in a ton of heavy dependencies. --> can we split this? in my understanding, "min*" should also mean minimal dependencies ;)

Shorthand for getRotation().toImplementation()

This seems like a fairly heavy dependency to me, especially since the vast majority of people (I assume) are using this as a C++ library only.

Any opinions?

I don't see any need for this repo to be private.
@simonlynen ?

That does the same as QuattransformationTemplate::transformVectorized()

When I was building the minkindr_python, there are some errors and I couldn't handle them. The errors are as follows:

Errors << minkindr_python:cmake /home/michael/dslam_ws/logs/minkindr_python/build.cmake.021.log
CMake Error at /home/michael/dslam_ws/devel/share/catkin_simple/cmake/catkin_simple-extras.cmake:38 (find_package):

By not providing "Findcatkin_boost_python_buildtool.cmake" in
CMAKE_MODULE_PATH this project has asked CMake to find a package
configuration file provided by "catkin_boost_python_buildtool", but CMake
did not find one.
Could not find a package configuration file provided by
"catkin_boost_python_buildtool" with any of the following names:

catkin_boost_python_buildtoolConfig.cmake
catkin_boost_python_buildtool-config.cmake

Add the installation prefix of "catkin_boost_python_buildtool" to
CMAKE_PREFIX_PATH or set "catkin_boost_python_buildtool_DIR" to a directory
containing one of the above files. If "catkin_boost_python_buildtool"
provides a separate development package or SDK, be sure it has been
installed.
Call Stack (most recent call first):
CMakeLists.txt:5 (catkin_simple)

@HannesSommer @mbuerki @alexmillane @michaelpantic @mfehr

A minimal piece of code that will cause this issue is as follows:

kindr::minimal::RotationQuaternion q1(0.014005508273839951, 0, 0, 0.99987637996673584);
kindr::minimal::RotationQuaternion q2(0.018121428787708282, 0, 0,-0.99981027841567993);
q1*q2;

The first two lines create quaternions and are sufficiently close to 1 that no errors occur.
However, when the third line is run the following error is encountered

WARNING: Logging before InitGoogleLogging() is written to STDERR
F0111 13:23:33.874274 17251 rotation-quaternion-inl.h:77] Check failed: (squaredNorm()) >= (static_cast(1.0))-(static_cast(1e-4)) (0.999898 vs. 0.9999)
*** Check failure stack trace: ***

This is because the result of the multiplication has reduced the precision enough to fail the check.

One possible solution to this would be to renormalize the result of quaternion multiplications, though I am unsure if this would be the best approach. Does anyone have any thoughts as how to prevent this issue occurring? It seems like quite a problem as currently the wrong inputs will crash any program that uses minkindr multiplication.

Eigen::Quaterniond q_odom_map = T_odom_map_.getRotation().toImplementation();

is a hassle every time you need the rotation component of this transformation, which is all the time.

Any objections to adding a convenience method?

Currently mindkindr_python is in this repo, which is meant to be as minimal implementation of a transformation library as possible. It brings in huge dependencies like numpy_eigen, which takes ~20-30 minutes to build on a normal machine and forces everyone using minkindr (again, designed as an absolutely minimal transformation package) to install numpy_eigen and catkin_boost_python_buildtool. It's breaking default installation instructions of packages such as voxblox, as it now adds many additional dependencies that don't allow an entire workspace to build.
This is also an issue for setting up continuous integration pipelines, as again, many dependencies are introduced and the entire workspace can no longer be built without them.

Great work on introducing python bindings, but please put them outside this repo.

@HannesSommer @mbuerki @alexmillane @michaelpantic @mfehr

Or templated constructors:

http://eigen.tuxfamily.org/dox/TopicFunctionTakingEigenTypes.html

In our workspace we run: catkin build --verbose minkindr --catkin-make-args run_tests. This test is failing:

with the following error

ws/src/minkindr/minkindr/test/test-transformation.cc:84: Failure
Death test: T.transform(vempty)
    Result: failed to die.
 Error msg:
[  DEATH   ] 
[  FAILED  ] MinKindrTests.testTransform (0 ms)

meaning that T.transform(vempty) is expected to crash, but it doesn't.

To investigate I changed the test to the following:

  EXPECT_DEATH({
     std::cout << "Before transform" << std::endl;
     auto test = T.transform(vempty);
     std::cout << "After transform" << std::endl;
     std::cout << test << std::endl;
     std::cout << "After print";
  }, "^");

and it outputs this:

[ RUN      ] MinKindrTests.testTransform
Before transform
[       OK ] MinKindrTests.testTransform (85 ms)

Meaning that T.transform(vempty); crashed! Just as the original test expected.

So my theory is that the compiler (or Eigen?) does optimization that causes T.transform(vempty) not to execute. Maybe because the result of T.transform(vempty) is not used anyway? Does anyone have an idea what's going on here?

Setup:

Ubuntu clang version 14.0.6-++20220622053019+f28c006a5895-1~exp1~20220622173056.159
Target: x86_64-pc-linux-gnu
std=c++11
libeigen3-dev 3.3.4-4

http://eigen.tuxfamily.org/dox/TopicFunctionTakingEigenTypes.html

You have to wrap the _add_gtest stuff in a condition on testing. The Catkin error message otherwise is:

() is not available when tests are not enabled.  The CMake code should only
use it inside a conditional block which checks that testing is enabled:

if(CATKIN_ENABLE_TESTING)

  (...)

endif()

When running voxblox_pybind on my own dataset, minkindr is used as a 3rd party module.
If i run it on my own dataset, I get the error as follows.
Nowhere in configuration files is this rotation matrix specified, and all of the inputted poses use orthogonal rotation matrices. Is there a default transformation matrix somewhere that is causing this error?
INFO - 2022-12-05 11:52:14,048 - utils - Note: NumExpr detected 16 cores but "NUMEXPR_MAX_THREADS" not set, so enforcing safe limit of 8. INFO - 2022-12-05 11:52:14,048 - utils - NumExpr defaulting to 8 threads. 0%| | 0/631 [00:00<?, ? frames/s]WARNING: Logging before InitGoogleLogging() is written to STDERR F20221205 11:52:14.533803 213233 rotation-quaternion-inl.h:115] Check failed: isValidRotationMatrix(matrix) -0.999833 -0.99952 -0.999484 -0.999703 -0.998442 -0.998706 -0.997548 -0.999331 -0.997702 *** Check failure stack trace: *** Aborted (core dumped)

Previously, the dependency [email protected]:guests/gtsam was specified in the Jenkins configuration, which resulted in:

'gtsam/nonlinear/Expression.h' file not found

Thus, I changed the dependency to
https://bitbucket.org/gtborg/gtsam.git;fix/moveRawAccess-429-gb66dda2
which is the same as in https://github.com/ethz-asl/multiagent_mapping