lsd_slam_core and lsd_slam_viewer in Ubuntu 16.04

[chiragmajithia]

Hey,
I was able to compile lsd_slam on ubuntu 16.04 with ros-kinetic. However, while running lsd_slam_viewer I get following error:

*** Error in `/home/chirag/vision/SLAM-ROS/package_dir/lsd_slam/lsd_slam_viewer/bin/viewer': realloc(): invalid pointer: 0x00007fda0b922820 ***
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x77725)[0x7fda0a30a725]
/lib/x86_64-linux-gnu/libc.so.6(realloc+0x348)[0x7fda0a316f88]
/usr/lib/x86_64-linux-gnu/libQt5Core.so.5(_ZN9QListData7reallocEi+0x1f)[0x7fda056b9a5f]
/usr/lib/x86_64-linux-gnu/libQt5Core.so.5(_ZN9QListData6appendEi+0x81)[0x7fda056b9b31]
/usr/lib/x86_64-linux-gnu/libQt5Core.so.5(+0x1d7018)[0x7fda05786018]
...

The same issue can be seen here.

As, suggested in issue#33 -- my libqglviewer2 is already the newest version (2.6.3+dfsg1-1).

However, I think the
rosrun lsd_slam_core live_slam image:=/image_raw camera_info:=/camera_info
is running with following output:

Received ROS Camera Calibration: fx: 254.326950, fy: 375.934387, cx: 267.381897, cy: 231.599091 @ 640x480
RECEIVED ROS camera calibration!
Started mapping thread!
Started constraint search thread!
Started optimization thread
Doing Random initialization!
started image display thread!
Done Random initialization!
init done
QObject::startTimer: Timers cannot be started from another thread
TRACKING LOST for frame 1175 (0.01% good Points, which is 100.00% of available points, DIVERGED)!
QObject::killTimer: Timers cannot be stopped from another thread
QObject::startTimer: Timers cannot be started from another thread

There is nothing echoed from /lsd_slam/pose ..
There are no tfs published so that I can use them to view in rviz.
I am relatively new to using ROS -- is it possible to get the package running on 16.04 kinetic system?

I had to change couple of lines in
/lsd_slam_viewer/src/PointCloudViewer.cpp and /lsd_slam_viewer/src/PointCloudViewer.h

from float x,y,z to qreal x,y,z beforeqreal x,y,z;
camera()->frame()->getPosition(x,y,z);
function is called

to make the package compile sucessfully.

[sagarwal-atg]

Did u make any progress with this

[chiragmajithia]

Not yet..

[martinarroyo]

The issue is caused by a conflict between versions 4 and 5 of Qt. I fixed it by following this instructions. I did not uninstall Qt 5 nor did I manually compiled libQGLViewer. I just removed the symlinks to libQGLviewer.so.2.6.3 and created new ones that point to libQGLViewer-qt4.so.2.6.3.

[blindnote]

I also followed this as @martinarroyo except that i didn't setup the soft symlinks:

1. sudo apt-get purge --auto-remove qt5-default
2. qglviewer, decompress and cd into the folder, then qmake & make & sudo make install
3. rebuild lsd_slam

[mrmouss]

@blindnote your solution works for compilation, but when launching the viewer it is not working, nothing is shown on the window.

[blindnote]

@mbennehar is your issue the same with this?

[mrmouss]

@blindnote yes it is the same error. I fixed it by removing some wait returns in one cpp file (sorry but I don't remember which one or which lines). This only fixed the pointcloud viewer. The window showing depth pixels never showed up. It should be noted that I'm using a catkin version of this package on Ubuntu 16.04 on ROS kinetic. On a virtual machine running Ubuntu 14.04 and ROS indigo, everything worked just fine.

[jiapei100]

Same issue here...
Qt 5.8.0 under Ubuntu 16.04.1

Any solutions?

Cheers
Pei

[tsuyony]

@jiapei100
I installed ros-indigo to ubuntu 16.04 from src, and installed lsd_slam under ros-indigo workspace.
I seems working well.
(I have encountered a issue #237 when compiling ros-indigo )

[jeremyfix]

I experienced the same issue (on a 16.04 LTS with kinetic) and solved it by following something similar to @martinarroyo .

sudo apt remove libqglviewer-dev
sudo apt install libqglviewer-dev-qt4
cd /usr/lib/x86_64-linux-gnu
sudo ln -s libQGLViewer-qt4.so libQGLViewer.so

cd catkin_ws
catkin clean
catkin build lsd_slam_viewer

rosrun lsd_slam_viewer viewer

[EduardoTayupanta]

someone solved this mistake:
QObject::startTimer: Timers cannot be started from another thread
^CQObject::~QObject: Timers cannot be stopped from another thread

[jsYangCode]

@jeremyfix @mbennehar Hi, friends. so desperate! rosmake LSD-slam, I had to change couple of lines in
/lsd_slam_viewer/src/PointCloudViewer.cpp: 326 and /lsd_slam_viewer/src/PointCloudViewer.h:135

326:from float x,y,z to double x,y,z
camera()->frame()->getPosition(x,y,z);

135:from float x,y,z to double x,y,z
After this, rosmake again. some error occurs！！ may u give me some advice? thank u very much!

[johnchars]

Maybe the Eigen3 version leads to this question, I have replaced my Eigen3.3 with Eigen3.2.9, after compile, its fixed.

[Cielyuy]

I also followed this as @martinarroyo except that i didn't setup the soft symlinks:

1. sudo apt-get purge --auto-remove qt5-default
2. qglviewer, decompress and cd into the folder, then qmake & make & sudo make install
3. rebuild lsd_slam

thanks for ur advice. However, when I input the first demand, bash says Package 'qt5-default' is not installed, so not removed. but I do find qt5 in PC.