lifunudt / corb-slam Goto Github PK

@ junzhang2016 According to your suggestion, I still can not build the project. I do not know why, can you give me some suggestion. Thank you a million.

gaotao@gaotao-desktop:~/data/catkin_ws_CORB_SLAM$ catkin_make corbslam_client
Base path: /home/gaotao/data/catkin_ws_CORB_SLAM
Source space: /home/gaotao/data/catkin_ws_CORB_SLAM/src
Build space: /home/gaotao/data/catkin_ws_CORB_SLAM/build
Devel space: /home/gaotao/data/catkin_ws_CORB_SLAM/devel
Install space: /home/gaotao/data/catkin_ws_CORB_SLAM/install

Running command: "make cmake_check_build_system" in "/home/gaotao/data/catkin_ws_CORB_SLAM/build"

-- Using CATKIN_DEVEL_PREFIX: /home/gaotao/data/catkin_ws_CORB_SLAM/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/melodic
-- This workspace overlays: /opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2")
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/gaotao/data/catkin_ws_CORB_SLAM/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17")
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.28
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 2 packages in topological order:
-- ~~ - corbslam_client
-- ~~ - corbslam_server
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'corbslam_client'
-- ==> add_subdirectory(CORB-SLAM/corbslam_client)
Build type: Release
-- Using flag -std=c++11.
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.65.1
-- Found the following Boost libraries:
-- serialization
-- system
-- filesystem
-- corbslam_client: 1 messages, 2 services
-- +++ processing catkin package: 'corbslam_server'
-- ==> add_subdirectory(CORB-SLAM/corbslam_server)
Build type: Release
-- Using flag -std=c++11.
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.65.1
-- Found the following Boost libraries:
-- serialization
-- system
-- filesystem
-- corbslam_server: 1 messages, 2 services
-- Configuring done
-- Generating done
-- Build files have been written to: /home/gaotao/data/catkin_ws_CORB_SLAM/build

Running command: "make corbslam_client -j4 -l4" in "/home/gaotao/data/catkin_ws_CORB_SLAM/build"

[ 8%] Building CXX object CORB-SLAM/corbslam_client/CMakeFiles/corbslam_client.dir/src/LocalMapping.cc.o
[ 8%] Building CXX object CORB-SLAM/corbslam_client/CMakeFiles/corbslam_client.dir/src/Tracking.cc.o
[ 12%] Building CXX object CORB-SLAM/corbslam_client/CMakeFiles/corbslam_client.dir/src/System.cc.o
[ 16%] Building CXX object CORB-SLAM/corbslam_client/CMakeFiles/corbslam_client.dir/src/LoopClosing.cc.o
In file included from /home/gaotao/data/catkin_ws_CORB_SLAM/src/CORB-SLAM/corbslam_client/include/KeyFrame.h:31:0,
from /home/gaotao/data/catkin_ws_CORB_SLAM/src/CORB-SLAM/corbslam_client/include/MapPoint.h:24,
from /home/gaotao/data/catkin_ws_CORB_SLAM/src/CORB-SLAM/corbslam_client/include/FrameDrawer.h:25,
from /home/gaotao/data/catkin_ws_CORB_SLAM/src/CORB-SLAM/corbslam_client/include/Viewer.h:25,
from /home/gaotao/data/catkin_ws_CORB_SLAM/src/CORB-SLAM/corbslam_client/include/Tracking.h:28,
from /home/gaotao/data/catkin_ws_CORB_SLAM/src/CORB-SLAM/corbslam_client/src/Tracking.cc:22:
/home/gaotao/data/catkin_ws_CORB_SLAM/src/CORB-SLAM/corbslam_client/include/Cache.h:20:10: fatal error: corbslam_client/corbslam_insert.h: No such file or directory
#include "corbslam_client/corbslam_insert.h"
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
In file included from /home/gaotao/data/catkin_ws_CORB_SLAM/src/CORB-SLAM/corbslam_client/include/MapPoint.h:27:0,
from /home/gaotao/data/catkin_ws_CORB_SLAM/src/CORB-SLAM/corbslam_client/include/KeyFrame.h:24,
from /home/gaotao/data/catkin_ws_CORB_SLAM/src/CORB-SLAM/corbslam_client/include/LocalMapping.h:24,
from /home/gaotao/data/catkin_ws_CORB_SLAM/src/CORB-SLAM/corbslam_client/src/LocalMapping.cc:21:
/home/gaotao/data/catkin_ws_CORB_SLAM/src/CORB-SLAM/corbslam_client/include/Cache.h:20:10: fatal error: corbslam_client/corbslam_insert.h: No such file or directory
#include "corbslam_client/corbslam_insert.h"
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
CORB-SLAM/corbslam_client/CMakeFiles/corbslam_client.dir/build.make:86: recipe for target 'CORB-SLAM/corbslam_client/CMakeFiles/corbslam_client.dir/src/Tracking.cc.o' failed
make[3]: *** [CORB-SLAM/corbslam_client/CMakeFiles/corbslam_client.dir/src/Tracking.cc.o] Error 1
make[3]: *** Waiting for unfinished jobs....
CORB-SLAM/corbslam_client/CMakeFiles/corbslam_client.dir/build.make:110: recipe for target 'CORB-SLAM/corbslam_client/CMakeFiles/corbslam_client.dir/src/LocalMapping.cc.o' failed
make[3]: *** [CORB-SLAM/corbslam_client/CMakeFiles/corbslam_client.dir/src/LocalMapping.cc.o] Error 1
In file included from /home/gaotao/data/catkin_ws_CORB_SLAM/src/CORB-SLAM/corbslam_client/include/MapPoint.h:27:0,
from /home/gaotao/data/catkin_ws_CORB_SLAM/src/CORB-SLAM/corbslam_client/include/KeyFrame.h:24,
from /home/gaotao/data/catkin_ws_CORB_SLAM/src/CORB-SLAM/corbslam_client/include/LoopClosing.h:24,
from /home/gaotao/data/catkin_ws_CORB_SLAM/src/CORB-SLAM/corbslam_client/src/LoopClosing.cc:21:
/home/gaotao/data/catkin_ws_CORB_SLAM/src/CORB-SLAM/corbslam_client/include/Cache.h:20:10: fatal error: corbslam_client/corbslam_insert.h: No such file or directory
#include "corbslam_client/corbslam_insert.h"
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
CORB-SLAM/corbslam_client/CMakeFiles/corbslam_client.dir/build.make:134: recipe for target 'CORB-SLAM/corbslam_client/CMakeFiles/corbslam_client.dir/src/LoopClosing.cc.o' failed
make[3]: *** [CORB-SLAM/corbslam_client/CMakeFiles/corbslam_client.dir/src/LoopClosing.cc.o] Error 1
In file included from /home/gaotao/data/catkin_ws_CORB_SLAM/src/CORB-SLAM/corbslam_client/include/KeyFrame.h:31:0,
from /home/gaotao/data/catkin_ws_CORB_SLAM/src/CORB-SLAM/corbslam_client/include/MapPoint.h:24,
from /home/gaotao/data/catkin_ws_CORB_SLAM/src/CORB-SLAM/corbslam_client/include/FrameDrawer.h:25,
from /home/gaotao/data/catkin_ws_CORB_SLAM/src/CORB-SLAM/corbslam_client/include/Viewer.h:25,
from /home/gaotao/data/catkin_ws_CORB_SLAM/src/CORB-SLAM/corbslam_client/include/Tracking.h:28,
from /home/gaotao/data/catkin_ws_CORB_SLAM/src/CORB-SLAM/corbslam_client/include/System.h:29,
from /home/gaotao/data/catkin_ws_CORB_SLAM/src/CORB-SLAM/corbslam_client/src/System.cc:23:
/home/gaotao/data/catkin_ws_CORB_SLAM/src/CORB-SLAM/corbslam_client/include/Cache.h:20:10: fatal error: corbslam_client/corbslam_insert.h: No such file or directory
#include "corbslam_client/corbslam_insert.h"
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
CORB-SLAM/corbslam_client/CMakeFiles/corbslam_client.dir/build.make:62: recipe for target 'CORB-SLAM/corbslam_client/CMakeFiles/corbslam_client.dir/src/System.cc.o' failed
make[3]: *** [CORB-SLAM/corbslam_client/CMakeFiles/corbslam_client.dir/src/System.cc.o] Error 1
CMakeFiles/Makefile2:1780: recipe for target 'CORB-SLAM/corbslam_client/CMakeFiles/corbslam_client.dir/all' failed
make[2]: *** [CORB-SLAM/corbslam_client/CMakeFiles/corbslam_client.dir/all] Error 2
CMakeFiles/Makefile2:1792: recipe for target 'CORB-SLAM/corbslam_client/CMakeFiles/corbslam_client.dir/rule' failed
make[1]: *** [CORB-SLAM/corbslam_client/CMakeFiles/corbslam_client.dir/rule] Error 2
Makefile:799: recipe for target 'corbslam_client' failed
make: *** [corbslam_client] Error 2
Invoking "make corbslam_client -j4 -l4" failed
gaotao@gaotao-desktop:~/data/catkin_ws_CORB_SLAM$

In file included from /home/user/catkin_ws/src/CORB-SLAM/corbslam_server/src/ServerMapView.cpp:5:0:
/home/user/catkin_ws/src/CORB-SLAM/corbslam_server/include/ServerMapView.h:8:23: fatal error: MapDrawer.h: No such file or directory
compilation terminated.

and other files in src folder can't be compiled

I am not very familiar with ros, when I run catkin_make, there is an error:
/home/catkin_ws/src/corbslam_client/include/Cache.h:20:45: fatal error: corbslam_server/corbslam_insert.h: No such file or directory
#include "corbslam_server/corbslam_insert.h"

Do you have any idea with my problem?

It seems like both of two slam algorithms looks like almost same.
But what is the key point of the difference between two of them?

i appreciated about your effort.

thanks.

Hi,
I am having the following error after catkin_make
[ 83%] [ 85%] Building CXX object CORB-SLAM/corbslam_client/CMakeFiles/corbslam_client_mono_tum.dir/Examples/Monocular/mono_tum.cc.o
Building CXX object CORB-SLAM/corbslam_client/CMakeFiles/corbslam_client_stereo_kitti.dir/Examples/Stereo/stereo_kitti.cc.o
make[2]: *** No rule to make target /home/uzi/catkin_ws/src/corbslam_client/Thirdparty/DBoW2/lib/libDBoW2.so', needed by /home/uzi/catkin_ws/src/CORB-SLAM/corbslam_server/corbslam_server'. Stop.
make[1]: *** [CORB-SLAM/corbslam_server/CMakeFiles/corbslam_server.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 87%] [ 89%] Building CXX object CORB-SLAM/corbslam_client/CMakeFiles/corbslam_client_rgbd_tum.dir/Examples/RGB-D/rgbd_tum.cc.o
Building CXX object CORB-SLAM/corbslam_client/CMakeFiles/corbslam_client_rgbd_tum.dir/Examples/RGB-D/ros_viewer.cpp.o
In file included from /home/uzi/catkin_ws/src/CORB-SLAM/corbslam_client/Examples/RGB-D/ros_viewer.cpp:4:0:
/opt/ros/indigo/include/pcl_conversions/pcl_conversions.h:44:29: fatal error: pcl/conversions.h: No such file or directory
#include <pcl/conversions.h>
^
compilation terminated.
make[2]: *** [CORB-SLAM/corbslam_client/CMakeFiles/corbslam_client_rgbd_tum.dir/Examples/RGB-D/ros_viewer.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
Linking CXX executable /home/uzi/catkin_ws/src/CORB-SLAM/corbslam_client/Examples/Monocular/corbslam_client_mono_tum
[ 89%] Built target corbslam_client_mono_tum
Linking CXX executable /home/uzi/catkin_ws/src/CORB-SLAM/corbslam_client/Examples/Stereo/corbslam_client_stereo_kitti
[ 89%] Built target corbslam_client_stereo_kitti
make[1]: *** [CORB-SLAM/corbslam_client/CMakeFiles/corbslam_client_rgbd_tum.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

Thanks

Like in ORB SLAM2 the ROS components get built in Examples/ROS/ORB_SLAM2 (ros_mono.cc,ros_rgbd.c,ros_stereo.cc) , how can they be built in CORB-SLAM (corbslam_client/Examples/ROS/ORBSLAM2/src ?
If they need not to be built then how ROS node can be used ?

It appears an error when I build the CORB-SLAM:
/home/user/catkin_ws/src/CORB-SLAM/corbslam_client/include/Cache.h:20:45: fatal error: corbslam_client/corbslam_insert.h: No such file or directory.

But I can't find any file named "corbslam_insert.h" in the folder.

I wonder if the project can run other datasets besides kitti dataset.
I have changed the rgbd_tum.cpp in Examples/RGB-D, and it was no problem running client. But if I started server, "segmentation fault" would happen.

I have already built the project successfully and it was no problem if I only run 1 client. But when I tried to run 2 clients, the server will become not work. Is it the problem of my laptop?
I follow the command @junzhang2016