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LSD-SLAM Knowledge Base

Information

Knowledge base for errors and how to fix them. Based on errors I encountered while compiling my fork, the fork by kevin george and the fork by TUM-Vision

Errors

Cannot bind non_const lvalue to rvalue

Error Message

PointCloudViewer.h:136:26: error: cannot bind non-const lvalue reference of type ‘qreal& {aka double&}’ to an rvalue of type ‘qreal {aka double}’
   frame.getPosition(x,y,z);
   
PointCloudViewer.cpp:327:44: error: cannot bind non-const lvalue reference of type ‘qreal& {aka double&}’ to an rvalue of type ‘qreal {aka double}’
        camera()->frame()->getPosition(x,y,z);

Solution

Change the float x,y,z; in the files to double x,y,z;

no such function found: g2o::OptimizationAlgorithmLevenberg

Solution

uninstall ros-melodic-libg2o using sudo apt purge ros-melodic-libg2o and then run sudo rm -r /usr/local/lib/libg2o* /usr/local/include/g2o /usr/local/lib/g2o /usr/local/bin/g2o* to remove all the g2o stuff that is left
Then install the g2o c++03 again

Couldn't find package configuration file provided by 'Eigen'

Error Message

lsd_slam/lsd_slam_viewer/CMakeLists.txt:30 (find_package):
  By not providing "FindEigen.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "Eigen", but
  CMake did not find one.

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

    EigenConfig.cmake
    eigen-config.cmake

  Add the installation prefix of "Eigen" to CMAKE_PREFIX_PATH or set
  "Eigen_DIR" to a directory containing one of the above files.  If "Eigen"
  provides a separate development package or SDK, be sure it has been
  installed.

Solution

In the CMakeList.txt change Eigen with Eigen3

'int' enum Status

Error Message

In file included from /usr/include/GL/glx.h:30:0,
                 from /home/adas/lsd-SLAM_wx/src/lsd_slam/lsd_slam_viewer/src/KeyFrameDisplay.cpp:27:
/usr/include/opencv2/stitching.hpp:128:10: error: expected identifier before ‘int’
     enum Status
          ^
In file included from /usr/include/opencv2/opencv.hpp:86:0,
                 from /home/adas/lsd-SLAM_wx/src/lsd_slam/lsd_slam_viewer/src/KeyFrameDisplay.cpp:31:
/usr/include/opencv2/stitching.hpp:129:5: error: expected unqualified-id before ‘{’ token
     {

Solution

Rename Status to status
https://github.com/opencv/opencv/pull/7148/commits/7810bcd4bd4e6cae06e191fbb8a0c7e369b03120

"lsd_slam_viewer/keyframeMsg.h" not found

Error Message

lsd_slam/lsd_slam_viewer/src/KeyFrameDisplay.h:27:10: fatal error: lsd_slam_viewer/keyframeMsg.h: No such file or directory
 #include "lsd_slam_viewer/keyframeMsg.h"
 
 ...
 
lsd_slam/lsd_slam_viewer/src/PointCloudViewer.h:30:10: fatal error: lsd_slam_viewer/keyframeMsg.h: No such file or directory
 #include "lsd_slam_viewer/keyframeMsg.h"

Solution

Do all these step

  • Copy msg directory under lsd_slam_viewer into lsd_slam_core
  • Replace all instances of lsd_slam_viewer in the IOWrapper/ROS/ROSOutput3DWrapper.cpp file with lsd_slam_core
Viewer
  • Add add_dependencies(viewer lsd_slam_viewer_generate_messages_cpp) in lsd_slam_viewer/CMakelists.txt under the add_executeable line
Core
  • Add message_generation to the list of find_package(catkin REQUIRED COMPONENTS)
  • Add add_message_files(DIRECTORY msg FILES keyframeMsg.msg keyframeGraphMsg.msg) generate_messages(DEPENDENCIES) above the line stating generate_dynamic_reconfigure_options
  • Add add_dependencies(live_slam lsd_slam_core_generate_messages_cpp) under the add_executeable line

Credit

base_vertex.h not found

Error Message

lsd_slam/lsd_slam_core/src/GlobalMapping/g2oTypeSim3Sophus.h:24:10: fatal error: g2o/core/base_vertex.h: No such file or directory
 #include "g2o/core/base_vertex.h"

Solution

Clone and compile g2o yourself

g2oTypeSim3Sophus.h Errors

Error Message

Many error messages like the one below in the g2oTypeSim3Sophus.h file

lsd_slam/lsd_slam_core/src/GlobalMapping/g2oTypeSim3Sophus.h:96:20: error: ISO C++ forbids declaration of ‘type name’ with no type [-fpermissive]
   Eigen::Map<const g2o::Vector7d> v(m);
   
   ...
   
lsd_slam/lsd_slam_core/src/GlobalMapping/g2oTypeSim3Sophus.h:96:33: error: template argument 1 is invalid
   Eigen::Map<const g2o::Vector7d> v(m);

Solution

Change line 96 in g2oTypeSim3Sophus.h from Eigen::Map<const g2o::Vector7d> v(m); to Eigen::Map<const Eigen::Matrix<double, 7 ,1> > v(m);

Credit

g2o No matching function for call

Error Message

no matching function for call to ‘g2o::BlockSolver<g2o::BlockSolverTraits<7, 3>>::BlockSolver(LinearSolver*&)’
BlockSolver* blockSolver = new BlockSolver(solver);

Solution

Install version c++03 from the link below as the latest one changed a few things. Still works with the fix for base_vertex.h not found as written above.
https://github.com/felixendres/g2o/tree/c++03

ros/ros.h not found

Error Message

lsd_slam/lsd_slam_core/src/IOWrapper/ROS/ROSImageStreamThread.h:27:10: fatal error: ros/ros.h: No such file or directory

Solution

Add ${catkin_INCLUDE_DIRS} to the include_directories in the CMakeList.txt.

Credit

cannot find -lcparse

Error Message

/usr/bin/ld: cannot find -lcsparse

Solution

  • Find the csparse file with sudo find / -name "*csparse*"
    In my case it was in /usr/local/lib/libg2o_solver_csparse.so
  • Now softlink csparse we just found to the location it is missing in with command sudo ln -s {where it is} {where to link it}

'cvPoint' and 'CV_FONT_HERSHEY_SIMPLEX' not declared in this scope

Error Message

src/lsd_slam/lsd_slam_core/src/util/globalFuncs.cpp: In function ‘void lsd_slam::printMessageOnCVImage(cv::Mat&, std::__cxx11::string, std::__cxx11::string)’:
src/lsd_slam/lsd_slam_core/src/util/globalFuncs.cpp:52:28: error: ‘cvPoint’ was not declared in this scope
  cv::putText(image, line2, cvPoint(10,image.rows-5),
                            ^~~~~~~
src/lsd_slam/lsd_slam_core/src/util/globalFuncs.cpp:52:28: note: suggested alternative: ‘cvRound’
  cv::putText(image, line2, cvPoint(10,image.rows-5),
                            ^~~~~~~
                            cvRound

and

src/lsd_slam/lsd_slam_core/src/util/globalFuncs.cpp:53:6: error: ‘CV_FONT_HERSHEY_SIMPLEX’ was not declared in this scope
      CV_FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(200,200,250), 1, 8);

Solution

Don't mix the obsolete C api with the C++ api. Use cv::Point instead of cvPoint, and cv::FONT_HERSHEY_SIMPLEX instead of CV_FONT_HERSHEY_SIMPLEX

Credit

'cvPoint', 'CV_FONT_HERSHEY_SIMPLEX', … not declared in this scope

Error Message

/home/adas/ros_workspace/src/src/lsd_slam/lsd_slam_core/src/util/globalFuncs.cpp: In function ‘void lsd_slam::printMessageOnCVImage(cv::Mat&, std::__cxx11::string, std::__cxx11::string)’:
/home/adas/ros_workspace/src/src/lsd_slam/lsd_slam_core/src/util/globalFuncs.cpp:52:28: error: ‘cvPoint’ was not declared in this scope
  cv::putText(image, line2, cvPoint(10,image.rows-5),
                            ^~~~~~~
/home/adas/ros_workspace/src/src/lsd_slam/lsd_slam_core/src/util/globalFuncs.cpp:52:28: note: suggested alternative: ‘cvRound’
  cv::putText(image, line2, cvPoint(10,image.rows-5),
                            ^~~~~~~
                            cvRound

and

      CV_FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(200,200,250), 1, 8);

most other that have something with cv or CV_ at the front

Solution

Don't mix the obsolete C api with the C++ api. Use cv::Point instead of cvPoint, and cv::FONT_HERSHEY_SIMPLEX instead of CV_FONT_HERSHEY_SIMPLEX, e.g.:

cv::putText(image, line1, cv::Point(10,image.rows-18),
        cv::FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(200,200,250), 1, 8);

Credits

catkin_make » /usr/bin/ld: cannot find -lcsparse

This occured when running catkin_make to make lsd_slam

Error Message

[ 91%] Linking CXX shared library /home/adas/lsd-slam_workspace/devel/lib/liblsdslam.so
/usr/bin/ld: cannot find -lcsparse
collect2: error: ld returned 1 exit status
lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/build.make:755: recipe for target '/home/adas/lsd-slam_workspace/devel/lib/liblsdslam.so' failed
make[2]: * [/home/adas/lsd-slam_workspace/devel/lib/liblsdslam.so] Error 1 CMakeFiles/Makefile2:2385: recipe for target 'lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/all' failed
make[1]: [lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/all] Error 2 Makefile:140: recipe for target 'all' failed
make: ** [all] Error 2
Invoking "make -j4 -l4" failed

Solution

Add this at the top of the CMakeList.txt

find_path(CSPARSE_INCLUDE_DIR NAMES cs.h
  PATHS
  /usr/include/suitesparse
  /usr/include
  /opt/local/include
  /usr/local/include
  /sw/include
  /usr/include/ufsparse
  /opt/local/include/ufsparse
  /usr/local/include/ufsparse
  /sw/include/ufsparse
  PATH_SUFFIXES
  suitesparse
  )

Also replace csparse and cxsparse in the target_linked_libraries with ${CSPARSE_INCLUDE_DIR}

Credit

liblsdslam.so: Warning: undefined reference to ***

Will most Likely accure when applying the fix for "catkin_make » /usr/bin/ld: cannot find -lcsparse"

Error Message

"Warnung: undefinerter Verweis auf xxx" => "Warning: undefined reference to xxx

/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_post«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_etree«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »g2o::csparse_extension::cs_chol_workspace(cs_di_sparse const*, cs_di_symbolic const*, int*, double*)«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_pinv«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_counts«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_sfree«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_spfree«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »g2o::csparse_extension::cs_cholsolsymb(cs_di_sparse const*, double*, cs_di_symbolic const*, double*, int*)«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_nfree«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_amd«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_cumsum«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_symperm«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_schol«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_calloc«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_malloc«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »cs_di_free«
/home/alex/Schreibtisch/workspace/devel/lib/liblsdslam.so: Warnung: undefinierter Verweis auf »g2o::csparse_extension::writeCs2Octave(char const*, cs_di_sparse const*, bool)«
collect2: error: ld returned 1 exit status

Solution

Install libsuitesparse-dev before compiling g2o

double free or corruption

Error Message

double free or corruption (out)
Aborted (core dumped)

Solution

Download Eigen 3.2.5 but don't install it.
Put it in a folder and remember the path.
Go into the CMakeList.txt of lsd_slam_core and add set(EIGEN3_INCLUDE_DIR "{PATH}") above the block include_directories(...

'CV_GRAY2RGB' & 'CV_RGB2GRAY' not declared

Error Message

error: ‘CV_GRAY2RGB’ was not declared in this scope
   cv::cvtColor(keyFrameImage8u, res, CV_GRAY2RGB);

Solution

Change CV_ to cv::COLOR_ like this: cv::COLOR_GRAY2RGB

Last changed by 
 
Alex
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