shanmo / orcvio-lite Goto Github PK

I had this error when compiling the Non-ROS version

I am using OpenCV 3.4.14.

I tried to install the Non-ROS version, I failed at the last "make" step. The errors are:

liborcvio_estimator.so: undefined reference to std::locale fmt::v8::detail::locale_ref::get<std::locale>() const' liborcvio_estimator.so: undefined reference to fmt::v8::format_error::~format_error()'
liborcvio_estimator.so: undefined reference to vtable for fmt::v8::format_error' liborcvio_estimator.so: undefined reference to fmt::v8::detail::error_handler::on_error(char const*)'
liborcvio_estimator.so: undefined reference to fmt::v8::detail::basic_data<void>::left_padding_shifts' liborcvio_estimator.so: undefined reference to typeinfo for fmt::v8::format_error'
liborcvio_estimator.so: undefined reference to `fmt::v8::vprint(fmt::v8::basic_string_view, fmt::v8::basic_format_args<fmt::v8::basic_format_context<fmt::v8::appender, char> >)'
collect2: error: ld returned 1 exit status
CMakeFiles/orcvio.dir/build.make:175: recipe for target '../bin/orcvio' failed
make[2]: *** [../bin/orcvio] Error 1
CMakeFiles/Makefile2:982: recipe for target 'CMakeFiles/orcvio.dir/all' failed
make[1]: *** [CMakeFiles/orcvio.dir/all] Error 2
Makefile:94: recipe for target 'all' failed
make: *** [all] Error 2

Does anyone know how to solve it?

Hello, thank you for the open source code. But when I try to run ./run_euroc.sh PATH_TO_EUROC_DATASET/ as you mentioned, I met the error as follows:
python: can't open file 'scripts/convert_csv_to_txt.py': [Errno 2] No such file or directory
And I can't find the scripts/convert_csv_to_txt.py file in the folder scripts. So I think you maybe forget to upload it.

I'm trying to use roslaunch orcvio orcvio_mapping_rs_d435i.launch path_bag:=PATH_TO_ERL_DATASET/ to run the VIO & Mapping in ROS version. I got following output and no object is generated in rviz.

setting /run_id to d6162fa2-260a-11ec-82f8-4845206e4f42
process[rosout-1]: started with pid [9861]
started core service [/rosout]
process[republish_img-2]: started with pid [9868]
process[republish_darknet_img-3]: started with pid [9869]
process[orcvio_robot/system-4]: started with pid [9870]
process[orcvio_robot/ObjectMapper-5]: started with pid [9871]
type is orcvio/SystemNodelet
process[rosbag-6]: started with pid [9877]
type is orcvio/ObjectMapperNodelet
process[rviz-7]: started with pid [9884]
[ INFO] [1633458854.414281416]: System: Start loading ROS parameters...
[ INFO] [1633458854.415618665]: Publishing: /orcvio/quadrics
[ INFO] [1633458854.418987207]: System: Finish loading ROS parameters...
[ INFO] [1633458854.423628207]: Publishing: /orcvio/gt_objects
[ INFO] [1633458854.436356406]: Path for storing object map: /home/erl/orcvio/OrcVIO-Lite/cache/object_map/
in ~ObjectMapperNodelet()
===========================================
not using FEJ...
not estimating td...
not estimating extrinsic...
not calibrating imu instrinsic online...
Pure MSCKF...
using zero velocity update
using right perturbation
using closed form covariance propagation
using orcvio
using static/dynamic initialization...
===========================================

[orcvio_robot/ObjectMapper-5] process has died [pid 9871, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet standalone orcvio/ObjectMapperNodelet __name:=ObjectMapper __log:=/home/jerryai/.ros/log/d6162fa2-260a-11ec-82f8-4845206e4f42/orcvio_robot-ObjectMapper-5.log].
log file: /home/jerryai/.ros/log/d6162fa2-260a-11ec-82f8-4845206e4f42/orcvio_robot-ObjectMapper-5*.log
[ INFO] [1633458854.701614793]: Publishing: /orcvio_robot/system/poseout
[ INFO] [1633458854.713520487]: System Manager: Finish creating ROS IO...
Images from now on will be utilized...

And I can not find orcvio_robot-ObjectMapper-5*.log. The VIO version works well.