Hi haidela, you should install DLib library. Let me know if It works.

from sptam.

@taihup hello, I installed DLib library here. it is the same, it doesn't work

from sptam.

You must follow DBoW2 instructions: https://github.com/dorian3d/DBoW2

from sptam.

@taihup hello, I am very sorry for being so late in replying to your message, it is the same, it doesn't work.

from sptam.

I recommend you to install s-ptam in a fresh ubuntu 16.04 installation. Maybe you have a wrong configuration.

from sptam.

Hello @taihup, I am trying to install sptam followed your instructions as I was asked to do, but was unsuccessful. I have installed six times s-ptam in a fresh ubuntu 16.04 installation and it is the same DLib error . Before September 2017, I installed it without problem and I am very shocked if the problem would have occurred during your last commit(Latest commit fdb02d6 on 28 Oct ). Did you test to install it after your last commit? Can you send the commit before last commit?
Here are the steps: tested S-PTAM in Ubuntu 16.04 with ROS Kinetic

1. ros-utils
   git clone https://github.com/lrse/ros-utils.git

haidara@haidara-virtual-machine:~/catkin_ws/src$ git clone https://github.com/lrse/ros-utils.git
Cloning into 'ros-utils'...
remote: Counting objects: 40, done.
remote: Compressing objects: 100% (25/25), done.
remote: Total 40 (delta 14), reused 40 (delta 14), pack-reused 0
Unpacking objects: 100% (40/40), done.
Checking connectivity... done.
haidara@haidara-virtual-machine:/catkin_ws/src$ cd ros-utilshaidara@haidara-virtual-machine:/catkin_ws/src/ros-utils$ mkdir build
haidara@haidara-virtual-machine:/catkin_ws/src/ros-utils$ cd build
haidara@haidara-virtual-machine:/catkin_ws/src/ros-utils/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
-- Using CATKIN_DEVEL_PREFIX: /home/haidara/catkin_ws/src/ros-utils/build/devel
-- Using CMAKE_PREFIX_PATH: /home/haidara/catkin_ws/devel;/opt/ros/kinetic
-- This workspace overlays: /home/haidara/catkin_ws/devel;/opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python (found version "2.7.12")
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/haidara/catkin_ws/src/ros-utils/build/test_results
-- 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
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.6
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Configuring done
-- Generating done
-- Build files have been written to: /home/haidara/catkin_ws/src/ros-utils/build
haidara@haidara-virtual-machine:~/catkin_ws/src/ros-utils/build$ make
Scanning dependencies of target pose_to_odom
[ 10%] Building CXX object CMakeFiles/pose_to_odom.dir/src/pose_to_odom.cpp.o
[ 20%] Linking CXX executable devel/lib/ros_utils/pose_to_odom
[ 20%] Built target pose_to_odom
Scanning dependencies of target odom_to_pose
[ 30%] Building CXX object CMakeFiles/odom_to_pose.dir/src/odom_to_pose.cpp.o
[ 40%] Linking CXX executable devel/lib/ros_utils/odom_to_pose
[ 40%] Built target odom_to_pose
Scanning dependencies of target poseWithCovariance_to_ellipsoid
[ 50%] Building CXX object CMakeFiles/poseWithCovariance_to_ellipsoid.dir/src/poseWithCovariance_to_ellipsoid.cpp.o
[ 60%] Linking CXX executable devel/lib/ros_utils/poseWithCovariance_to_ellipsoid
[ 60%] Built target poseWithCovariance_to_ellipsoid
Scanning dependencies of target odom_to_imu
[ 70%] Building CXX object CMakeFiles/odom_to_imu.dir/src/odom_to_imu.cpp.o
[ 80%] Linking CXX executable devel/lib/ros_utils/odom_to_imu
[ 80%] Built target odom_to_imu
Scanning dependencies of target pose_to_path
[ 90%] Building CXX object CMakeFiles/pose_to_path.dir/src/pose_to_path.cpp.o
[100%] Linking CXX executable devel/lib/ros_utils/pose_to_path
[100%] Built target pose_to_path

2. g2o
sudo apt-get install - cmake - libeigen3-dev - libsuitesparse-dev - qtdeclarative5-dev - qt5-qmake - libqglviewer-dev

haidara@haidara-virtual-machine:~/catkin_ws$ sudo apt-get install - cmake - libeigen3-dev - libsuitesparse-dev - qtdeclarative5-dev - qt5-qmake - libqglviewer-dev
[sudo] password for haidara:
Reading package lists... Done
Building dependency tree
Reading state information... Done
qtdeclarative5-dev is already the newest version (5.5.1-2ubuntu6).
qtdeclarative5-dev set to manually installed.
libeigen3-dev is already the newest version (3.3~beta1-2).
libeigen3-dev set to manually installed.
cmake is already the newest version (3.5.1-1ubuntu3).
cmake set to manually installed.
qt5-qmake is already the newest version (5.5.1+dfsg-16ubuntu7.5).
qt5-qmake set to manually installed.
The following additional packages will be installed:
libamd2.4.1 libbtf1.2.1 libcamd2.4.1 libccolamd2.9.1 libcholmod3.0.6
libcsparse3.1.4 libcxsparse3.1.4 libklu1.3.3 libldl2.2.1 libqglviewer2
libspqr2.0.2 libumfpack5.7.1
The following NEW packages will be installed:
libamd2.4.1 libbtf1.2.1 libcamd2.4.1 libccolamd2.9.1 libcholmod3.0.6
libcsparse3.1.4 libcxsparse3.1.4 libklu1.3.3 libldl2.2.1 libqglviewer-dev
libqglviewer2 libspqr2.0.2 libsuitesparse-dev libumfpack5.7.1
0 upgraded, 14 newly installed, 0 to remove and 206 not upgraded.
Need to get 1,986 kB of archives.
After this operation, 8,532 kB of additional disk space will be used.
Do you want to continue? [Y/n] Y
Get:1 http://hk.archive.ubuntu.com/ubuntu xenial/main amd64 libamd2.4.1 amd64 1:4.4.6-1 [21.3 kB]
Get:2 http://hk.archive.ubuntu.com/ubuntu xenial/main amd64 libbtf1.2.1 amd64 1:4.4.6-1 [10.8 kB]
Get:3 http://hk.archive.ubuntu.com/ubuntu xenial/main amd64 libcamd2.4.1 amd64 1:4.4.6-1 [20.0 kB]
Get:4 http://hk.archive.ubuntu.com/ubuntu xenial/main amd64 libccolamd2.9.1 amd64 1:4.4.6-1 [21.5 kB]
Get:5 http://hk.archive.ubuntu.com/ubuntu xenial/main amd64 libcholmod3.0.6 amd64 1:4.4.6-1 [293 kB]
Get:6 http://hk.archive.ubuntu.com/ubuntu xenial/main amd64 libcsparse3.1.4 amd64 1:4.4.6-1 [26.3 kB]
Get:7 http://hk.archive.ubuntu.com/ubuntu xenial/main amd64 libcxsparse3.1.4 amd64 1:4.4.6-1 [62.8 kB]
Get:8 http://hk.archive.ubuntu.com/ubuntu xenial/main amd64 libklu1.3.3 amd64 1:4.4.6-1 [71.5 kB]
Get:9 http://hk.archive.ubuntu.com/ubuntu xenial/main amd64 libldl2.2.1 amd64 1:4.4.6-1 [10.6 kB]
Get:10 http://hk.archive.ubuntu.com/ubuntu xenial/universe amd64 libqglviewer2 amd64 2.6.3+dfsg1-1 [214 kB]
Get:11 http://hk.archive.ubuntu.com/ubuntu xenial/universe amd64 libqglviewer-dev amd64 2.6.3+dfsg1-1 [48.9 kB]
Get:12 http://hk.archive.ubuntu.com/ubuntu xenial/main amd64 libspqr2.0.2 amd64 1:4.4.6-1 [63.6 kB]
Get:13 http://hk.archive.ubuntu.com/ubuntu xenial/main amd64 libumfpack5.7.1 amd64 1:4.4.6-1 [223 kB]
Get:14 http://hk.archive.ubuntu.com/ubuntu xenial/main amd64 libsuitesparse-dev amd64 1:4.4.6-1 [899 kB]
Fetched 1,986 kB in 4s (398 kB/s)
Selecting previously unselected package libamd2.4.1:amd64.
(Reading database ... 250354 files and directories currently installed.)
Preparing to unpack .../libamd2.4.1_1%3a4.4.6-1_amd64.deb ...
Unpacking libamd2.4.1:amd64 (1:4.4.6-1) ...
Selecting previously unselected package libbtf1.2.1:amd64.
Preparing to unpack .../libbtf1.2.1_1%3a4.4.6-1_amd64.deb ...
Unpacking libbtf1.2.1:amd64 (1:4.4.6-1) ...
Selecting previously unselected package libcamd2.4.1:amd64.
Preparing to unpack .../libcamd2.4.1_1%3a4.4.6-1_amd64.deb ...
Unpacking libcamd2.4.1:amd64 (1:4.4.6-1) ...
Selecting previously unselected package libccolamd2.9.1:amd64.
Preparing to unpack .../libccolamd2.9.1_1%3a4.4.6-1_amd64.deb ...
Unpacking libccolamd2.9.1:amd64 (1:4.4.6-1) ...
Selecting previously unselected package libcholmod3.0.6:amd64.
Preparing to unpack .../libcholmod3.0.6_1%3a4.4.6-1_amd64.deb ...
Unpacking libcholmod3.0.6:amd64 (1:4.4.6-1) ...
Selecting previously unselected package libcsparse3.1.4:amd64.
Preparing to unpack .../libcsparse3.1.4_1%3a4.4.6-1_amd64.deb ...
Unpacking libcsparse3.1.4:amd64 (1:4.4.6-1) ...
Selecting previously unselected package libcxsparse3.1.4:amd64.
Preparing to unpack .../libcxsparse3.1.4_1%3a4.4.6-1_amd64.deb ...
Unpacking libcxsparse3.1.4:amd64 (1:4.4.6-1) ...
Selecting previously unselected package libklu1.3.3:amd64.
Preparing to unpack .../libklu1.3.3_1%3a4.4.6-1_amd64.deb ...
Unpacking libklu1.3.3:amd64 (1:4.4.6-1) ...
Selecting previously unselected package libldl2.2.1:amd64.
Preparing to unpack .../libldl2.2.1_1%3a4.4.6-1_amd64.deb ...
Unpacking libldl2.2.1:amd64 (1:4.4.6-1) ...
Selecting previously unselected package libqglviewer2:amd64.
Preparing to unpack .../libqglviewer2_2.6.3+dfsg1-1_amd64.deb ...
Unpacking libqglviewer2:amd64 (2.6.3+dfsg1-1) ...
Selecting previously unselected package libqglviewer-dev.
Preparing to unpack .../libqglviewer-dev_2.6.3+dfsg1-1_amd64.deb ...
Unpacking libqglviewer-dev (2.6.3+dfsg1-1) ...
Selecting previously unselected package libspqr2.0.2:amd64.
Preparing to unpack .../libspqr2.0.2_1%3a4.4.6-1_amd64.deb ...
Unpacking libspqr2.0.2:amd64 (1:4.4.6-1) ...
Selecting previously unselected package libumfpack5.7.1:amd64.
Preparing to unpack .../libumfpack5.7.1_1%3a4.4.6-1_amd64.deb ...
Unpacking libumfpack5.7.1:amd64 (1:4.4.6-1) ...
Selecting previously unselected package libsuitesparse-dev:amd64.
Preparing to unpack .../libsuitesparse-dev_1%3a4.4.6-1_amd64.deb ...
Unpacking libsuitesparse-dev:amd64 (1:4.4.6-1) ...
Processing triggers for libc-bin (2.23-0ubuntu9) ...
Setting up libamd2.4.1:amd64 (1:4.4.6-1) ...
Setting up libbtf1.2.1:amd64 (1:4.4.6-1) ...
Setting up libcamd2.4.1:amd64 (1:4.4.6-1) ...
Setting up libccolamd2.9.1:amd64 (1:4.4.6-1) ...
Setting up libcholmod3.0.6:amd64 (1:4.4.6-1) ...
Setting up libcsparse3.1.4:amd64 (1:4.4.6-1) ...
Setting up libcxsparse3.1.4:amd64 (1:4.4.6-1) ...
Setting up libklu1.3.3:amd64 (1:4.4.6-1) ...
Setting up libldl2.2.1:amd64 (1:4.4.6-1) ...
Setting up libqglviewer2:amd64 (2.6.3+dfsg1-1) ...
Setting up libqglviewer-dev (2.6.3+dfsg1-1) ...
Setting up libspqr2.0.2:amd64 (1:4.4.6-1) ...
Setting up libumfpack5.7.1:amd64 (1:4.4.6-1) ...
Setting up libsuitesparse-dev:amd64 (1:4.4.6-1) ...
Processing triggers for libc-bin (2.23-0ubuntu9) ...

git clone https://github.com/RainerKuemmerle/g2o.git
haidara@haidara-virtual-machine:~/catkin_ws/src$ git clone https://github.com/RainerKuemmerle/g2o.git
Cloning into 'g2o'...
remote: Counting objects: 9708, done.
remote: Total 9708 (delta 0), reused 0 (delta 0), pack-reused 9708
Receiving objects: 100% (9708/9708), 6.63 MiB | 169.00 KiB/s, done.
Resolving deltas: 100% (5830/5830), done.
Checking connectivity... done.
haidara@haidara-virtual-machine:/catkin_ws/src$ cd g2o
haidara@haidara-virtual-machine:/catkin_ws/src/g2o$ git checkout g2o
mkdir build
cd build
cmake ../
make

3. DBoW2
sudo apt-get install libboost-dev
haidara@haidara-virtual-machine:~/catkin_ws/src$ sudo apt-get install libboost-dev
[sudo] password for haidara:
Reading package lists... Done
Building dependency tree
Reading state information... Done
libboost-dev is already the newest version (1.58.0.1ubuntu1).
libboost-dev set to manually installed.
0 upgraded, 0 newly installed, 0 to remove and 206 not upgraded.

git clone https://github.com/dorian3d/DLib.git
haidara@haidara-virtual-machine:~/catkin_ws/src$ git clone https://github.com/dorian3d/DLib.git
Cloning into 'DLib'...
remote: Counting objects: 296, done.
remote: Total 296 (delta 0), reused 0 (delta 0), pack-reused 296
Receiving objects: 100% (296/296), 141.56 KiB | 172.00 KiB/s, done.
Resolving deltas: 100% (165/165), done.
Checking connectivity... done.
haidara@haidara-virtual-machine:/catkin_ws/src/DLib$ mkdir build
haidara@haidara-virtual-machine:/catkin_ws/src/DLib$ cd build
haidara@haidara-virtual-machine:/catkin_ws/src/DLib/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 OpenCV: /opt/ros/kinetic (found version "3.2.0")
-- Configuring done
-- Generating done
-- Build files have been written to: /home/haidara/catkin_ws/src/DLib/build
**haidara@haidara-virtual-machine:/catkin_ws/src/DLib/build$ make**
Scanning dependencies of target DLib
[ 3%] Building CXX object CMakeFiles/DLib.dir/src/DVision/BRIEF.cpp.o
[ 6%] Building CXX object CMakeFiles/DLib.dir/src/DVision/FSolver.cpp.o
[ 10%] Building CXX object CMakeFiles/DLib.dir/src/DVision/ImageFunctions.cpp.o
[ 13%] Building CXX object CMakeFiles/DLib.dir/src/DVision/PLYFile.cpp.o
[ 17%] Building CXX object CMakeFiles/DLib.dir/src/DVision/PatchFile.cpp.o
[ 20%] Building CXX object CMakeFiles/DLib.dir/src/DVision/BundleCamera.cpp.o
[ 24%] Building CXX object CMakeFiles/DLib.dir/src/DVision/HSolver.cpp.o
[ 27%] Building CXX object CMakeFiles/DLib.dir/src/DVision/Matches.cpp.o
[ 31%] Building CXX object CMakeFiles/DLib.dir/src/DVision/PMVSCamera.cpp.o
[ 34%] Building CXX object CMakeFiles/DLib.dir/src/DVision/PixelPointFile.cpp.o
[ 37%] Building CXX object CMakeFiles/DLib.dir/src/DUtilsCV/Drawing.cpp.o
[ 41%] Building CXX object CMakeFiles/DLib.dir/src/DUtilsCV/Geometry.cpp.o
[ 44%] Building CXX object CMakeFiles/DLib.dir/src/DUtilsCV/Mat.cpp.o
[ 48%] Building CXX object CMakeFiles/DLib.dir/src/DUtilsCV/Types.cpp.o
[ 51%] Building CXX object CMakeFiles/DLib.dir/src/DUtilsCV/GUI.cpp.o
[ 55%] Building CXX object CMakeFiles/DLib.dir/src/DUtilsCV/IO.cpp.o
[ 58%] Building CXX object CMakeFiles/DLib.dir/src/DUtilsCV/Transformations.cpp.o
[ 62%] Building CXX object CMakeFiles/DLib.dir/src/DUtils/BinaryFile.cpp.o
[ 65%] Building CXX object CMakeFiles/DLib.dir/src/DUtils/DebugFunctions.cpp.o
[ 68%] Building CXX object CMakeFiles/DLib.dir/src/DUtils/LUT.cpp.o
[ 72%] Building CXX object CMakeFiles/DLib.dir/src/DUtils/Profiler.cpp.o
[ 75%] Building CXX object CMakeFiles/DLib.dir/src/DUtils/StringFunctions.cpp.o
[ 79%] Building CXX object CMakeFiles/DLib.dir/src/DUtils/Timestamp.cpp.o
[ 82%] Building CXX object CMakeFiles/DLib.dir/src/DUtils/ConfigFile.cpp.o
[ 86%] Building CXX object CMakeFiles/DLib.dir/src/DUtils/FileFunctions.cpp.o
[ 89%] Building CXX object CMakeFiles/DLib.dir/src/DUtils/LineFile.cpp.o
[ 93%] Building CXX object CMakeFiles/DLib.dir/src/DUtils/Random.cpp.o
[ 96%] Building CXX object CMakeFiles/DLib.dir/src/DUtils/TimeManager.cpp.o
[100%] Linking CXX shared library libDLib.so
[100%] Built target DLib

git clone https://github.com/dorian3d/DBoW2.git
haidara@haidara-virtual-machine:~/catkin_ws/src$ git clone https://github.com/dorian3d/DBoW2.git
Cloning into 'DBoW2'...
remote: Counting objects: 507, done.
remote: Total 507 (delta 0), reused 0 (delta 0), pack-reused 507
Receiving objects: 100% (507/507), 692.20 KiB | 88.00 KiB/s, done.
Resolving deltas: 100% (261/261), done.
Checking connectivity... done.
haidara@haidara-virtual-machine:/catkin_ws/src/DBoW2$ git checkout DBoW2
error: pathspec 'DBoW2' did not match any file(s) known to git.
haidara@haidara-virtual-machine:/catkin_ws/src/DBoW2$ mkdir build
haidara@haidara-virtual-machine:/catkin_ws/src/DBoW2$ cd build
haidara@haidara-virtual-machine:/catkin_ws/src/DBoW2/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 OpenCV: /opt/ros/kinetic (found version "3.2.0")
-- Boost version: 1.58.0
DLib library not found in the system, it will be downloaded on build
-- Configuring done
-- Generating done
-- Build files have been written to: /home/haidara/catkin_ws/src/DBoW2/build
haidara@haidara-virtual-machine:~/catkin_ws/src/DBoW2/build$ make
Scanning dependencies of target DLib
[ 5%] Creating directories for 'DLib'
[ 11%] Performing download step (git clone) for 'DLib'
Cloning into 'DLib'...
Already on 'master'
Your branch is up-to-date with 'origin/master'.
[ 17%] No patch step for 'DLib'
[ 23%] Performing update step for 'DLib'
Current branch master is up to date.
[ 29%] Performing configure step for 'DLib'
-- 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 OpenCV: /opt/ros/kinetic (found version "3.2.0")
-- Configuring done
-- Generating done
-- Build files have been written to: /home/haidara/catkin_ws/src/DBoW2/build/dependencies/src/DLib-build
[ 35%] Performing build step for 'DLib'
Scanning dependencies of target DLib
[ 3%] Building CXX object CMakeFiles/DLib.dir/src/DVision/BRIEF.cpp.o
[ 6%] Building CXX object CMakeFiles/DLib.dir/src/DVision/FSolver.cpp.o
[ 10%] Building CXX object CMakeFiles/DLib.dir/src/DVision/ImageFunctions.cpp.o
[ 93%] Building CXX object CMakeFiles/DLib.dir/src/DUtils/Random.cpp.o
[ 96%] Building CXX object CMakeFiles/DLib.dir/src/DUtils/TimeManager.cpp.o
[100%] Linking CXX shared library libDLib.so
[100%] Built target DLib
[ 41%] Performing install step for 'DLib'
[100%] Built target DLib
Install the project...
-- Install configuration: "Release"
-- Installing: /home/haidara/catkin_ws/src/DBoW2/build/dependencies/install/lib/libDLib.so
-- Set runtime path of "/home/haidara/catkin_ws/src/DBoW2/build/dependencies/install/lib/libDLib.so" to ""
/DLib/DLibConfig.cmake
-- Installing: /home/haidara/catkin_ws/src/DBoW2/build/dependencies/install/lib/cmake/DLib/DLibConfig.cmake
[ 47%] Completed 'DLib'
[ 47%] Built target DLib
Scanning dependencies of target Dependencies
-- Boost version: 1.58.0
DLib library found, using it from the system
-- Configuring done
-- Generating done
-- Build files have been written to: /home/haidara/catkin_ws/src/DBoW2/build
[ 47%] Built target Dependencies
Scanning dependencies of target DBoW2
[ 52%] Building CXX object CMakeFiles/DBoW2.dir/src/BowVector.cpp.o
[ 58%] Building CXX object CMakeFiles/DBoW2.dir/src/FBrief.cpp.o
[ 64%] Building CXX object CMakeFiles/DBoW2.dir/src/FORB.cpp.o
[ 70%] Building CXX object CMakeFiles/DBoW2.dir/src/FeatureVector.cpp.o
[ 76%] Building CXX object CMakeFiles/DBoW2.dir/src/QueryResults.cpp.o
[ 82%] Building CXX object CMakeFiles/DBoW2.dir/src/ScoringObject.cpp.o
[ 88%] Linking CXX shared library libDBoW2.so
[ 88%] Built target DBoW2
Scanning dependencies of target demo
[ 88%] Building CXX object CMakeFiles/demo.dir/demo/demo.cpp.o
[ 88%] Linking CXX executable demo
[100%] Built target demo

4. opengv
git clone https://github.com/laurentkneip/opengv.git
haidara@haidara-virtual-machine:/catkin_ws/src$ git clone https://github.com/laurentkneip/opengv.git
Cloning into 'opengv'...
remote: Counting objects: 7583, done.
remote: Total 7583 (delta 0), reused 0 (delta 0), pack-reused 7583
Receiving objects: 100% (7583/7583), 7.37 MiB | 452.00 KiB/s, done.
Resolving deltas: 100% (4290/4290), done.
Checking connectivity... done.
haidara@haidara-virtual-machine:/catkin_ws/src$ cd opengv
haidara@haidara-virtual-machine:/catkin_ws/src/opengv$ git checkout opengv
error: pathspec 'opengv' did not match any file(s) known to git.
haidara@haidara-virtual-machine:/catkin_ws/src/opengv$ mkdir build
haidara@haidara-virtual-machine:/catkin_ws/src/opengv$ cd build
haidara@haidara-virtual-machine:/catkin_ws/src/opengv/build$ cmake ..
-- The CXX compiler identification is GNU 5.4.0
-- 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 Eigen: /usr/include/eigen3 (Required is at least version "2.91.0")
-- Configuring done
-- Generating done
-- Build files have been written to: /home/haidara/catkin_ws/src/opengv/build
haidara@haidara-virtual-machine:/catkin_ws/src/opengv/build$ make
Scanning dependencies of target opengv
[ 0%] Building CXX object CMakeFiles/opengv.dir/src/absolute_pose/modules/main.cpp.o
[ 1%] Building CXX object CMakeFiles/opengv.dir/src/absolute_pose/modules/gp3p/code.cpp.o
[ 2%] Building CXX object CMakeFiles/opengv.dir/src/absolute_pose/modules/gp3p/init.cpp.o
[ 3%] Building CXX object CMakeFiles/opengv.dir/src/absolute_pose/modules/gp3p/reductors.cpp.o
[ 4%] Building CXX object CMakeFiles/opengv.dir/src/absolute_pose/modules/gp3p/spolynomials.cpp.o
[ 97%] Building CXX object CMakeFiles/test_eigensolver_sac.dir/test/test_eihaidara@haidara-virtual-machine:/catkin_ws$ sudo -H apt-get install -y ros-kinetic-libg2o
[sudo] password for haidara:
Reading package lists... Done
Building dependency tree
Reading state information... Done
ros-kinetic-libg2o is already the newest version (2016.4.24-0xenial-20170217-215915-0800).
0 upgraded, 0 newly installed, 0 to remove and 213 not upgraded.
gensolver_sac.cpp.o
[ 98%] Linking CXX executable bin/test_eigensolver_sac
[ 98%] Built target test_eigensolver_sac
Scanning dependencies of target test_Sturm
[ 99%] Building CXX object CMakeFiles/test_Sturm.dir/test/test_Sturm.cpp.o
[100%] Linking CXX executable bin/test_Sturm
[100%] Built target test_Sturm

5. sptam
git clone https://github.com/lrse/sptam.git
haidara@haidara-virtual-machine:/catkin_ws/src$ git clone https://github.com/lrse/sptam.git
Cloning into 'sptam'...
remote: Counting objects: 303, done.
remote: Total 303 (delta 0), reused 0 (delta 0), pack-reused 303
Receiving objects: 100% (303/303), 361.95 KiB | 89.00 KiB/s, done.
Resolving deltas: 100% (109/109), done.
Checking connectivity... done.
haidara@haidara-virtual-machine:/catkin_ws/src$ cd ..
haidara@haidara-virtual-machine:~/catkin_ws$ catkin_make --pkg sptam -DCMAKE_BUILD_TYPE=RelWithDebInfo -DSINGLE_THREAD=OFF -DSHOW_TRACKED_FRAMES=ON -DSHOW_PROFILING=ON -DPARALLELIZE=ON
Base path: /home/haidara/catkin_ws
Source space: /home/haidara/catkin_ws/src
Build space: /home/haidara/catkin_ws/build
Devel space: /home/haidara/catkin_ws/devel
Install space: /home/haidara/catkin_ws/install

Running command: "cmake /home/haidara/catkin_ws/src -DCMAKE_BUILD_TYPE=RelWithDebInfo -DSINGLE_THREAD=OFF -DSHOW_TRACKED_FRAMES=ON -DSHOW_PROFILING=ON -DPARALLELIZE=ON -DCATKIN_DEVEL_PREFIX=/home/haidara/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/haidara/catkin_ws/install -G Unix Makefiles" in "/home/haidara/catkin_ws/build"

-- Using CATKIN_DEVEL_PREFIX: /home/haidara/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/haidara/catkin_ws/devel;/opt/ros/kinetic
-- This workspace overlays: /home/haidara/catkin_ws/devel;/opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/haidara/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.6
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 2 packages in topological order:
-- ~~ - ros_utils
-- ~~ - sptam
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'ros_utils'
-- ==> add_subdirectory(ros-utils)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'sptam'
-- ==> add_subdirectory(sptam)
Selected BUILD_TYPE: RelWithDebInfo
-- Found Intel TBB
-- Enabling parallel code
-- Setting OpenCV threads to: -1
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- thread
-- system
-- regex
-- chrono
-- date_time
-- atomic
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1")
-- Checking for module 'yaml-cpp'
-- Found yaml-cpp, version 0.5.2
-- Found OpenCV: /opt/ros/kinetic (found version "3.2.0")
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:
G2O_CORE_LIBRARY
linked by target "sptam_nodelet" in directory /home/haidara/catkin_ws/src/sptam/src/ros
linked by target "sptam_node" in directory /home/haidara/catkin_ws/src/sptam/src/ros
G2O_INCLUDE_DIR
used as include directory in directory /home/haidara/catkin_ws/src/sptam
used as include directory in directory /home/haidara/catkin_ws/src/sptam/src/ros
used as include directory in directory /home/haidara/catkin_ws/src/sptam/src/ros
G2O_SOLVER_CSPARSE
linked by target "sptam_nodelet" in directory /home/haidara/catkin_ws/src/sptam/src/ros
linked by target "sptam_node" in directory /home/haidara/catkin_ws/src/sptam/src/ros
G2O_SOLVER_CSPARSE_EXTENSION
linked by target "sptam_nodelet" in directory /home/haidara/catkin_ws/src/sptam/src/ros
linked by target "sptam_node" in directory /home/haidara/catkin_ws/src/sptam/src/ros
G2O_STUFF_LIBRARY
linked by target "sptam_nodelet" in directory /home/haidara/catkin_ws/src/sptam/src/ros
linked by target "sptam_node" in directory /home/haidara/catkin_ws/src/sptam/src/ros
G2O_TYPES_SBA
linked by target "sptam_nodelet" in directory /home/haidara/catkin_ws/src/sptam/src/ros
linked by target "sptam_node" in directory /home/haidara/catkin_ws/src/sptam/src/ros
G2O_TYPES_SLAM3D
linked by target "sptam_nodelet" in directory /home/haidara/catkin_ws/src/sptam/src/ros
linked by target "sptam_node" in directory /home/haidara/catkin_ws/src/sptam/src/ros
-- Configuring incomplete, errors occurred!
See also "/home/haidara/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/haidara/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed****

haidara@haidara-virtual-machine:~/catkin_ws$ rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
dpkg-query: no packages found matching ros-kinetic-libg2o
dpkg-query: no packages found matching ros-kinetic-libg2o
executing command [sudo -H apt-get install -y ros-kinetic-libg2o]
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following NEW packages will be installed:
ros-kinetic-libg2o
0 upgraded, 1 newly installed, 0 to remove and 213 not upgraded.
Need to get 987 kB of archives.
After this operation, 6,274 kB of additional disk space will be used.
Get:1 http://packages.ros.org/ros/ubuntu xenial/main amd64 ros-kinetic-libg2o amd64 2016.4.24-0xenial-20170217-215915-0800 [987 kB]
Fetched 987 kB in 33s (29.7 kB/s)
Selecting previously unselected package ros-kinetic-libg2o.
(Reading database ... 250555 files and directories currently installed.)
Preparing to unpack .../ros-kinetic-libg2o_2016.4.24-0xenial-20170217-215915-0800_amd64.deb ...
Unpacking ros-kinetic-libg2o (2016.4.24-0xenial-20170217-215915-0800) ...
Setting up ros-kinetic-libg2o (2016.4.24-0xenial-20170217-215915-0800) ...
#All required rosdeps installed successfully
haidara@haidara-virtual-machine:~/catkin_ws$ rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
#All required rosdeps installed successfully

haidara@haidara-virtual-machine:~/catkin_ws$ sudo -H apt-get install -y ros-kinetic-libg2o
[sudo] password for haidara:
Reading package lists... Done
Building dependency tree
Reading state information... Done
ros-kinetic-libg2o is already the newest version (2016.4.24-0xenial-20170217-215915-0800).
0 upgraded, 0 newly installed, 0 to remove and 213 not upgraded.

6. Compilation
haidara@haidara-virtual-machine:~/catkin_ws$ catkin_make --pkg sptam -DCMAKE_BUILD_TYPE=RelWithDebInfo -DSINGLE_THREAD=OFF -DSHOW_TRACKED_FRAMES=ON -DSHOW_PROFILING=ON -DPARALLELIZE=ON
Base path: /home/haidara/catkin_ws
Source space: /home/haidara/catkin_ws/src
Build space: /home/haidara/catkin_ws/build
Devel space: /home/haidara/catkin_ws/devel
Install space: /home/haidara/catkin_ws/install

Running command: "make cmake_check_build_system" in "/home/haidara/catkin_ws/build"

-- Using CATKIN_DEVEL_PREFIX: /home/haidara/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/haidara/catkin_ws/devel;/opt/ros/kinetic
-- This workspace overlays: /home/haidara/catkin_ws/devel;/opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/haidara/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.6
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 2 packages in topological order:
-- ~~ - ros_utils
-- ~~ - sptam
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'ros_utils'
-- ==> add_subdirectory(ros-utils)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'sptam'
-- ==> add_subdirectory(sptam)
Selected BUILD_TYPE: RelWithDebInfo
-- Found Intel TBB
-- Enabling parallel code
-- Setting OpenCV threads to: -1
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- thread
-- system
-- regex
-- chrono
-- date_time
-- atomic
-- Configuring done
-- Generating done
-- Build files have been written to: /home/haidara/catkin_ws/build

Running command: "make -j2 -l2" in "/home/haidara/catkin_ws/build/sptam"

Scanning dependencies of target sptam
[ 2%] Building CXX object sptam/src/sptam/CMakeFiles/sptam.dir/FeatureExtractorThread.cpp.o
[ 5%] Building CXX object sptam/src/sptam/CMakeFiles/sptam.dir/BundleDriver.cpp.o
[ 8%] Building CXX object sptam/src/sptam/CMakeFiles/sptam.dir/g2o_driver.cpp.o
[ 11%] Building CXX object sptam/src/sptam/CMakeFiles/sptam.dir/MapMaker.cpp.o
/home/haidara/catkin_ws/src/sptam/src/sptam/g2o_driver.cpp: In constructor ‘G2ODriver::G2ODriver()’:
/home/haidara/catkin_ws/src/sptam/src/sptam/g2o_driver.cpp:71:102: error: no matching function for call to ‘g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::BlockSolver(std::remove_reference<std::unique_ptr<g2o::LinearSolver<Eigen::Matrix<double, 6, 6> > >&>::type)’
ckSolver_6_3> solver_ptr(new g2o::BlockSolver_6_3( std::move(linearSolver) ) );
^
In file included from /opt/ros/kinetic/include/g2o/core/block_solver.h:189:0,
from /home/haidara/catkin_ws/src/sptam/src/sptam/g2o_driver.cpp:40:
/opt/ros/kinetic/include/g2o/core/block_solver.hpp:39:1: note: candidate: g2o::BlockSolver::BlockSolver(g2o::BlockSolver::LinearSolverType*) [with Traits = g2o::BlockSolverTraits<6, 3>; g2o::BlockSolver::LinearSolverType = g2o::LinearSolver<Eigen::Matrix<double, 6, 6> >]
BlockSolver::BlockSolver(LinearSolverType* linearSolver) :
^
/opt/ros/kinetic/include/g2o/core/block_solver.hpp:39:1: note: no known conversion for argument 1 from ‘std::remove_reference<std::unique_ptr<g2o::LinearSolver<Eigen::Matrix<double, 6, 6> > >&>::type {aka std::unique_ptr<g2o::LinearSolver<Eigen::Matrix<double, 6, 6> > >}’ to ‘g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::LinearSolverType* {aka g2o::LinearSolver<Eigen::Matrix<double, 6, 6> >}’
/home/haidara/catkin_ws/src/sptam/src/sptam/g2o_driver.cpp:74:112: error: no matching function for call to ‘g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(std::remove_reference<std::unique_ptr<g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> > >&>::type)’
erg solver = new g2o::OptimizationAlgorithmLevenberg( std::move(solver_ptr) );
^
In file included from /home/haidara/catkin_ws/src/sptam/src/sptam/g2o_driver.cpp:43:0:
/opt/ros/kinetic/include/g2o/core/optimization_algorithm_levenberg.h:45:16: note: candidate: g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(g2o::Solver*)
explicit OptimizationAlgorithmLevenberg(Solver* solver);
^
/opt/ros/kinetic/include/g2o/core/optimization_algorithm_levenberg.h:45:16: note: no known conversion for argument 1 from ‘std::remove_reference<std::unique_ptr<g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> > >&>::type {aka std::unique_ptr<g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> > >}’ to ‘g2o::Solver*’
[ 13%] Building CXX object sptam/src/sptam/CMakeFiles/sptam.dir/ImageFeatures.cpp.o
[ 16%] Building CXX object sptam/src/sptam/CMakeFiles/sptam.dir/StereoGraph.cpp.o
sptam/src/sptam/CMakeFiles/sptam.dir/build.make:110: recipe for target 'sptam/src/sptam/CMakeFiles/sptam.dir/g2o_driver.cpp.o' failed
make[2]: *** [sptam/src/sptam/CMakeFiles/sptam.dir/g2o_driver.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
CMakeFiles/Makefile2:3266: recipe for target 'sptam/src/sptam/CMakeFiles/sptam.dir/all' failed
make[1]: *** [sptam/src/sptam/CMakeFiles/sptam.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j2 -l2" failed
haidara@haidara-virtual-machine:~/catkin_ws$ catkin_make --pkg sptam -DCMAKE_BUILD_TYPE=RelWithDebInfo -DUSE_LOOPCLOSURE=ON -DSINGLE_THREAD=OFF -DSHOW_TRACKED_FRAMES=ON -DSHOW_PROFILING=ON -DPARALLELIZE=ON
Base path: /home/haidara/catkin_ws
Source space: /home/haidara/catkin_ws/src
Build space: /home/haidara/catkin_ws/build
Devel space: /home/haidara/catkin_ws/devel
Install space: /home/haidara/catkin_ws/install

Running command: "cmake /home/haidara/catkin_ws/src -DCMAKE_BUILD_TYPE=RelWithDebInfo -DUSE_LOOPCLOSURE=ON -DSINGLE_THREAD=OFF -DSHOW_TRACKED_FRAMES=ON -DSHOW_PROFILING=ON -DPARALLELIZE=ON -DCATKIN_DEVEL_PREFIX=/home/haidara/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/haidara/catkin_ws/install -G Unix Makefiles" in "/home/haidara/catkin_ws/build"

-- Using CATKIN_DEVEL_PREFIX: /home/haidara/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/haidara/catkin_ws/devel;/opt/ros/kinetic
-- This workspace overlays: /home/haidara/catkin_ws/devel;/opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/haidara/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.6
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 2 packages in topological order:
-- ~~ - ros_utils
-- ~~ - sptam
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'ros_utils'
-- ==> add_subdirectory(ros-utils)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'sptam'
-- ==> add_subdirectory(sptam)
Selected BUILD_TYPE: RelWithDebInfo
-- Found Intel TBB
-- Enabling parallel code
-- Setting OpenCV threads to: -1
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- thread
-- system
-- regex
-- chrono
-- date_time
-- atomic
CMake Error at sptam/src/sptam/CMakeLists.txt:15 (find_package):
By not providing "FindDLib.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "DLib", but
CMake did not find one.

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

DLibConfig.cmake
dlib-config.cmake

Add the installation prefix of "DLib" to CMAKE_PREFIX_PATH or set
"DLib_DIR" to a directory containing one of the above files. If "DLib"
provides a separate development package or SDK, be sure it has been
installed.
-- Configuring incomplete, errors occurred!
See also "/home/haidara/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/haidara/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

from sptam.

Yes, the last commit was tested by some students. Try first to turn off the LoopClosure module and try also the standalone version and check if this work.

Are you following the new installation procedure (it changes a lot from the first 2015 S-PTAM release). Also take into account the commits that we point out for each library. I do not see the properly checkouts in your installation.

from sptam.

Good evening @taihup, this is my last installation steps(the sixth time); The first installation, I strictly follow the instructions of your installation with the properties checkout, but was unsuccessful

from sptam.

check if you have DLibConfig.cmake file somewhere ir your filesystem. Did you do make install after the compilation of DLib?

from sptam.

no, I am only making:
mkdir build
cd build
cmake ..
make

from sptam.

I am following the installation procedure here for 2017

from sptam.

Do you want me to try to compile it with make install?

from sptam.

That is correct just for the compilation of S-PTAM. But the installation procedure of S-PTAM build over the assumption that the dependencies are properly installed (they are not part of S-PTAM). So, DLib maybe is not properly installed. You should compile DLib and install it in your system (using make install). This instruction is valid for all the dependencies that S-PTAM needs.

from sptam.

Good evening @taihup, It is works well now, thanks so much for all your help in resolving my issues

from sptam.

Great! Enjoy it!

from sptam.

For Usage, I am trying to run sptam using the euroc.launch on EuRoc MAV dataset and the process has died. Thank you in advance for your answer.
haidara@haidara-virtual-machine:~/catkin_ws/src/sptam/launch$ roslaunch sptam euroc.launch
... logging to /home/haidara/.ros/log/932ace70-d558-11e7-9157-000c29704879/roslaunch-haidara-virtual-machine-22810.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://haidara-virtual-machine:33851/

SUMMARY

CLEAR PARAMETERS

• /image_proc_left/
• /image_proc_right/
• /nodelet_manager/

PARAMETERS

• /image_proc_left/queue_size: 1
• /image_proc_right/queue_size: 1
• /rosdistro: kinetic
• /rosversion: 1.12.7
• /sptam/BundleAdjustmentActiveKeyframes: 10
• /sptam/DescriptorExtractor/Name: BRIEF
• /sptam/DescriptorExtractor/bytes: 32
• /sptam/DescriptorMatcher/Name: BruteForce-Hamming
• /sptam/DescriptorMatcher/crossCheck: False
• /sptam/EpipolarDistance: 1
• /sptam/FeatureDetector/Name: ORB
• /sptam/FeatureDetector/edgeThreshold: 31
• /sptam/FeatureDetector/nFeatures: 200
• /sptam/FeatureDetector/nLevels: 1
• /sptam/FeatureDetector/scaleFactor: 1.2
• /sptam/FrustumFarPlaneDist: 50.0
• /sptam/FrustumNearPlaneDist: 0.1
• /sptam/LoopDetectorVocabulary: /home/haidara/cat...
• /sptam/MatchingCellSize: 15
• /sptam/MatchingDistance: 25
• /sptam/MatchingNeighborhood: 2
• /sptam/approximate_sync: False
• /sptam/base_frame: base_link
• /sptam/camera_frame: cam0
• /sptam/minimumTrackedPointsRatio: 0.9
• /sptam/prediction_frame: map
• /sptam/publish_transform: True
• /sptam/use_prediction: False
• /use_sim_time: True

NODES
/
bl_broadcaster (tf2_ros/static_transform_publisher)
gr_broadcaster (tf2_ros/static_transform_publisher)
gr_broadcaster2 (tf2_ros/static_transform_publisher)
image_proc_left (nodelet/nodelet)
image_proc_right (nodelet/nodelet)
imu_cam0_broadcaster (tf2_ros/static_transform_publisher)
imu_cam1_broadcaster (tf2_ros/static_transform_publisher)
nodelet_manager (nodelet/nodelet)
sptam (sptam/sptam_node)
sptam_path (ros_utils/pose_to_path)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
running rosparam delete /sptam/
process[imu_cam0_broadcaster-1]: started with pid [22836]
process[imu_cam1_broadcaster-2]: started with pid [22837]
process[bl_broadcaster-3]: started with pid [22839]
process[gr_broadcaster2-4]: started with pid [22864]
process[gr_broadcaster-5]: started with pid [22879]
process[sptam_path-6]: started with pid [22916]
process[nodelet_manager-7]: started with pid [22919]
process[image_proc_left-8]: started with pid [22922]
process[image_proc_right-9]: started with pid [22924]
process[sptam-10]: started with pid [22941]
[ INFO] [1511998711.169025421]: Loading nodelet /image_proc_left of type image_proc/rectify to manager nodelet_manager with the following remappings:
[ INFO] [1511998711.169166343]: /camera_info -> /cam0/camera_info
[ INFO] [1511998711.169203484]: /image_mono -> /cam0/image_raw
[ INFO] [1511998711.169227311]: /image_rect -> /stereo/left/image_rect
[ INFO] [1511998711.182625058]: Loading nodelet /image_proc_right of type image_proc/rectify to manager nodelet_manager with the following remappings:
[ INFO] [1511998711.182861811]: /camera_info -> /cam1/camera_info
[ INFO] [1511998711.182950892]: /image_mono -> /cam1/image_raw
[ INFO] [1511998711.183017716]: /image_rect -> /stereo/right/image_rect
[ INFO] [1511998711.192870027]: waitForService: Service [/nodelet_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1511998711.212457082]: waitForService: Service [/nodelet_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1511998711.305330010]: Initializing nodelet with 2 worker threads.
[ INFO] [1511998711.342899390]: Initializing nodelet with 2 worker threads.
[ INFO] [1511998711.376281932, 1403636632.755484881]: waitForService: Service [/nodelet_manager/load_nodelet] is now available.
[ INFO] [1511998711.381201138, 1403636632.765931872]: waitForService: Service [/nodelet_manager/load_nodelet] is now available.
crossCheck: 0
OpenCV: threads set to -1
nFeatures: 200
scaleFactor: 1.2
nLevels: 1
edgeThreshold: 31
firstLevel: 0
WTA_K: 2
scoreType: 0
patchSize: 31
fastThreshold: 20
nFeatures: 200
scaleFactor: 1.2
nLevels: 1
edgeThreshold: 31
firstLevel: 0
WTA_K: 2
scoreType: 0
patchSize: 31
fastThreshold: 20
bytes: 32
use_orientation: 0
bytes: 32
use_orientation: 0
[ INFO] [1511998712.006033681, 1403636633.388582162]: Loop Detector initializing, loading vocabulary
[ INFO] [1511998712.006946590, 1403636633.388582162]: Loop Detector could not initialize
Could not open file /home/haidara/catkin_ws/src/sptam/bow_voc/DBoW2/brief_mit_malaga_vocabulary.yml.gz
[ INFO] [1511998713.929126638, 1403636635.313204420]: S-PTAM stereo node initialized.
[ INFO] [1511998714.133194475, 1403636635.517002960]: init calib
[ INFO] [1511998714.133504417, 1403636635.517002960]: baseline: 0.110078
[ INFO] [1511998714.145918393, 1403636635.527508501]: Trying to intialize map...
[ INFO] [1511998714.161651899, 1403636635.537672623]: Map initialized with 105 points.
[sptam-10] process has died [pid 22941, exit code -11, cmd /home/haidara/catkin_ws/devel/lib/sptam/sptam_node /stereo/left/camera_info:=/cam0/camera_info /stereo/right/camera_info:=/cam1/camera_info robot/pose:=odom __name:=sptam __log:=/home/haidara/.ros/log/932ace70-d558-11e7-9157-000c29704879/sptam-10.log].
log file: /home/haidara/.ros/log/932ace70-d558-11e7-9157-000c29704879/sptam-10.log*

from sptam.