libgflags link error

[HeXu1]

Hi,thanks for your work
when I run "./slam -c robust_high_frequency_config.yaml" ,the output is "error while loading shared libraries: libgflags.so.2.2: cannot open shared object file: No such file or directory". I have install gflag in “usr/local/”. And I can't find where link gflags in cmakelists.txt.
hope for your reply,thanks a lot.

[HeXu1]

it seems well now after install libgflags. but it has “Segmentation fault” when parse param with "OPTION_CLAUSE" function.

[pdell-kitware]

Hi,

Do you have an error associated with the Segmentation Fault (perhaps before) ?
Have you tried to debug (with a breakpoint) to know precisely where is the errror ?

I will need a bit more to be able to help you,

Best Regards,

[HeXu1]

thanks,
Segmentation Fault does not occur before.
Segmentation Fault comes from parse param part with "OPTION_CLAUSE" function. I have debug it,it cannot parse any param successfully.

[pdell-kitware]

OPTION_CLAUSE is a MACRO, so you can look at the code it generates to see if there is any problem.

So i understand that it fails at "OPTION_CLAUSE(icp_node, icp_options, threshold_voxel_occupancy, int);"
In the main script, is that right ?

Can you:

• Give your system specifications (OS, compiler with version, etc..)
• Print the YAML Node before calling the OPTION_CLAUSE

[HeXu1]

ok,
my OS: Ubuntu16.04
compiler with version :gcc8
And i print yaml node in "SLAMOptions read_config(const std::string &config_path)" function,the output is:
slam_node: max_num_threads: 1
save_trajectory: true
suspend_on_failure: false
output_dir: .outputs
all_sequences: true
sequence: ""
start_index: 0
max_frames: -1
display_debug: true
dataset_options:
dataset: NCLT
root_path: /home/cidi/slam_data/ct-slam/2012-01-08
fail_if_incomplete: false
min_dist_lidar_center: 0.5
max_dist_lidar_center: 100.0
nclt_num_aggregated_pc: 220
odometry_options:
voxel_size: 0.3
sample_voxel_size: 1.5
max_distance: 200.0
max_num_points_in_voxel: 20
debug_print: true
min_distance_points: 0.15
distance_error_threshold: 100.0
motion_compensation: CONTINUOUS
initialization: INIT_NONE
init_num_frames: 20
robust_registration: true
robust_full_voxel_threshold: 0.6
robust_num_attempts: 3
robust_max_voxel_neighborhood: 4
robust_threshold_relative_orientation: 2
robust_threshold_ego_orientation: 2
log_to_file: false
debug_viz: true
ct_icp_options:
size_voxel_map: 0.8
num_iters_icp: 30
min_number_neighbors: 20
threshold_voxel_occupancy: 5
voxel_neighborhood: 1
max_number_neighbors: 20
max_dist_to_plane_icp: 0.5
power_planarity: 2
threshold_orientation_norm: 0.1
threshold_translation_norm: 0.01
debug_print: false
point_to_plane_with_distortion: false
distance: CT_POINT_TO_PLANE
num_closest_neighbors: 1
beta_location_consistency: 0.001
beta_constant_velocity: 0.000
beta_orientation_consistency: 0.000
beta_small_velocity: 0.01
solver: CERES
debug_viz: true
min_num_residuals: 200
max_num_residuals: 600
loss_function: CAUCHY
ls_max_num_iters: 10
ls_num_threads: 8
ls_sigma: 0.2
ls_tolerant_min_threshold: 0.05
Segmentation fault (core dumped)

[HeXu1]

and i'm confused with "kitti_raw_transform_trajectory_frame()" function:
R_Tr,T_Tr: does this mean extrinsic lidar to left camera ,T_lidar2came;
center_R,center_t: does this mean lidar absolute pose ,T_lidar2world;
And follows transformation means T_lidar2cameT_lidar2worldinv(T_lidar2came)? it seems not right.
center_R = R_Tr * center_R * R_Tr.transpose();
center_t = -center_R * T_Tr + T_Tr + R_Tr * center_t;

thanks a lot.

[HeXu1]

T_lidar2came * T_lidar2world * inv(T_lidar2came)

[HeXu1]

Hi,
I rebuild it with gcc-9,it works when build with ".\ct_icp_build.sh Release "Unix Makefiles" ON OFF" ,but failed with ".\ct_icp_build.sh Release "Unix Makefiles" ON ON". the output is "Target glfw could not be found". the glfw has installed in "cmake-build-Release/external" path,but cann't link well.
hope for your reply,thanks.

[HeXu1]

I have fixed it by replace "find_package(glfw3 REQUIRED CONFIG PATHS ${GLFW_DIR})" with "find_package(glfw3 3.3 REQUIRED CONFIG PATHS ${GLFW_DIR})" in external.cmake file.

[pdell-kitware]

So it didn't work with gcc8 ? That is strange as I had no problem with gcc-7.5. I will investigate.

Your latest problem is probably due to conflicting glfw installed on your system and cmake-build-Release/external

The "proper way" to fix it would be to add NO_DEFAULT_PATH to the cmake command

find_package(glfw3 REQUIRED CONFIG PATHS ${GLFW_DIR} NO_DEFAULT_PATH)

[HeXu1]

1. yes, gcc8 didn't work.
2. I build successfully with "find_package(glfw3 REQUIRED CONFIG PATHS ${GLFW_DIR} NO_DEFAULT_PATH)"
3. and the last problem about "center_R = R_Tr * center_R * R_Tr.transpose()", I understand the first "R_Tr" means transformation from lidar odometry to visual odometry . because the two odometry start at the same time.so the extrinsic pram means the two odometry's transformation.
   thanks a lot.

[HeXu1]

And by the way, how to change pcd file to ply used in ct-icp. I found the "writeFile()" function in "PlyFile.h" ,but I cann't use it well. thanks.