Problem record during XTDrone and PX4 learning (1)
Written By PiscesAlpaca
Foreword:
If there is a problem, you can go to the official website http://ceres-solver.org/index... Looking at the documentation, it is difficult for search engines to find the corresponding problem. (But I wrote the solutions to these problems, maybe I can find them later hh
1. Visual SLAM articles
URL: Visual SLAM · Yuque
ORBSLAM2 compilation
Compile dependencies see ORBSLAM2 compilation dependencies
Note that ORBSLAM2 is slightly modified on the basis of the original version. Although it supports ROS, it is not a standard ROS architecture, so it cannot be compiled with catkin build.
cp -r ~/XTDrone/sensing/slam/vslam/ORB_SLAM2/ ~/catkin_ws/src/
mkdir ~/catkin_ws/scripts/
cp ~/catkin_ws/src/ORB_SLAM2/xtdrone* ~/catkin_ws/scripts/
cd ~/catkin_ws/src/ORB_SLAM2
chmod +x build.sh
./build.sh
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/catkin_ws/src/ORB_SLAM2/Examples/ROS #Put this sentence in ~/.bashrc, it will be more convenient to use later
chmod +x build_ros.sh
./build_ros.sh
Problem: When doing ./build.sh, I encountered make[2]: *** No rule to make target '../Thirdparty/DBoW2/lib/libDBoW2.so', needed by '../lib/libORB_SLAM3 .so'. Stop.
Solution: Manually cd into the directory ORB_SLAM3/Thirdparty/DBoW2/build, run cmake .. and build -j4 in turn, then you can find that the libDBoW2.so file is generated in the lib directory, and then follow the tutorial to run ./build.sh 100% complete compilation.
2. 3D Laser SLAM
Problem: encountered `/home/pisces/catkin_ws/src/A-LOAM/src/laserOdometry.cpp:286:29: error: expected type-specifier when running catkin_make command
286 | new ceres::EigenQuaternionParameterization();
| ^~~~~ `
Solution:
Official documentation shows
EigenQuaternionParameterization is deprecated. It will be
removed in version 2.2.0 of Ceres Solver. Please use EigenQuaternionManifold instead.
Prove that EigenQuaternionParameterization is obsolete and needs to be replaced with EigenQuaternionManifold, ie:
ceres::LocalParameterization *q_parameterization = new ceres::EigenQuaternionParameterization();
Replace with: ``
ceres::LocalParameterization *q_parameterization = new ceres::EigenQuaternionManifold();
3. Visual Inertial Odometer
question:
`/home/pisces/catkin_ws/src/VINS-Fusion/camera_models/src/calib/CameraCalibration.cc:508:17: error: cannot convert 'camodocal::EigenQuaternionParameterization' to 'ceres::LocalParameterization' in initialization
new EigenQuaternionParameterization;
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~`
Workaround: Change ceres::LocalParameterization* to ceres::Manifold*
which is
ceres::Manifold* quaternionParameterization =
new EigenQuaternionParameterization;question:
`/home/pisces/catkin_ws/src/VINS-Fusion/camera_models/src/calib/CameraCalibration.cc:510:17: error: 'class ceres::Problem' has no member named 'SetParameterization'; did you mean 'SetParameterLowerBound'?
problem.SetParameterization(transformVec.at(i).rotationData(),
^~~~~~~~~~~~~~~~~~~
SetParameterLowerBound`
Solution:
This method is deprecated and will be removed in Ceres Solver version 2.2.0. Please move to using the SetManifold instead.
which is
problem.SetManifold(transformVec.at(i).rotationData(),
quaternionParameterization);question:
`/home/pisces/catkin_ws/src/VINS-Fusion/global_fusion/src/globalOpt.cpp:109:72: error: expected type-specifier
ceres::LocalParameterization* local_parameterization = new ceres::QuaternionParameterization();
^~~~~`
Solution:
QuaternionParameterization is deprecated. It will be removed in version 2.2.0 of Ceres Solver. Please use QuaternionManifold instead.
which is
ceres::Manifold* local_parameterization = new ceres::QuaternionManifold();
question:
`/home/pisces/catkin_ws/src/VINS-Fusion/camera_models/src/calib/CameraCalibration.cc:508:17: error: invalid new-expression of abstract class type 'camodocal::EigenQuaternionParameterization'
new EigenQuaternionParameterization;
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~`
Solution: The essence is that a new pure virtual function appears in the newly inherited Manifold class, which only needs to be implemented in the EigenQuaternionParameterization class
Add under EigenQuaternionParameterization class public:
virtual int AmbientSize() const {return 7;}
virtual int TangentSize() const {return 1;}
virtual bool PlusJacobian(const double* x, double* jacobian) const {return 1;}
virtual bool Minus(const double* y,
const double* x,
double* y_minus_x) const {return 1;}
virtual bool MinusJacobian(const double* x, double* jacobian) const {return 1;}which is
class EigenQuaternionParameterization : public ceres::Manifold
{
public:
virtual ~EigenQuaternionParameterization() {}
virtual bool Plus(const double* x,
const double* delta,
double* x_plus_delta) const;
virtual bool ComputeJacobian(const double* x,
double* jacobian) const;
virtual int GlobalSize() const { return 4; }
virtual int LocalSize() const { return 3; }
//edit by PiscesAlpaca
virtual int AmbientSize() const {return 1;}
virtual int TangentSize() const {return 1;}
virtual bool PlusJacobian(const double* x, double* jacobian) const {return 1;}
virtual bool Minus(const double* y,
const double* x,
double* y_minus_x) const {return 1;}
virtual bool MinusJacobian(const double* x, double* jacobian) const {return 1;}
private:
template<typename T>
void EigenQuaternionProduct(const T z[4], const T w[4], T zw[4]) const;
};question:
`/home/pisces/catkin_ws/src/VINS-Fusion/loop_fusion/src/pose_graph.h:134:24: error: 'AutoDiffLocalParameterization' in namespace 'ceres' does not name a template type
return (new ceres::AutoDiffLocalParameterization<AngleLocalParameterization,
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~`
Solution:
AutoDiffParameterization is deprecated. It will be removed in version 2.2.0 of Ceres Solver. Please use AutoDiffManifold instead.
which is
static ceres::Manifold* Create() {
return (new ceres::AutoDiffManifold <AngleLocalParameterization,
1, 1>);
}Note: If the compilation prompts that the Plus and Minus functions are missing after making changes, you can add them to the pose_graph.h file
class AngleLocalParameterization {
public:
template <typename T>
bool operator()(const T* theta_radians, const T* delta_theta_radians,
T* theta_radians_plus_delta) const {
*theta_radians_plus_delta =
NormalizeAngle(*theta_radians + *delta_theta_radians);
return true;
}
//edit by pisces
bool Plus(const double* x,
const double* delta,
double* x_plus_delta) {
return true;
}
//edit by pisces
bool Minus(const double* y,
const double* x,
double* y_minus_x) {
return true;
}
//edit by pisces
template <typename T>
bool Plus(const T* x,
const T* delta,
T* x_plus_delta) const{
return true;
}
//edit by pisces
template <typename T>
bool Minus(const T* y,
const T* x,
T* y_minus_x) const{
return true;
}
static ceres::Manifold* Create() {
return (new ceres::AutoDiffManifold <AngleLocalParameterization,
1, 1>);
}
};//edit by pisces is an added function
question:
`/home/pisces/catkin_ws/src/VINS-Fusion/vins_estimator/src/estimator/../factor/pose_local_parameterization.h:16:49: error: invalid use of incomplete type 'class ceres::LocalParameterization'
class PoseLocalParameterization : public ceres::LocalParameterization
^~~~~~~~~~~~~~~~~~~~~`
Workaround: Change ceres::LocalParameterization* to ceres::Manifold*
Same as question 1 of this section
question:
`/home/pisces/catkin_ws/src/VINS-Fusion/loop_fusion/src/pose_graph.cpp:474:52: error: cannot convert 'ceres::Manifold' to 'ceres::LocalParameterization' in initialization
AngleLocalParameterization::Create();
^`
Solution:
ceres::Manifold* angle_local_parameterization =
AngleLocalParameterization::Create();However, the above method did not allow VINS-Fusion to receive the correct data in the end, and it was implemented after downgrading ceres, the version is 1.14. If there are readers who have used the above method successfully, please let me know in the comments~
Welcome to point out mistakes and deficiencies~
Please indicate the source!
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