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Adapt package for a successful compilation in Ubuntu 18.04 and ROS Melodic #354

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Adapt package for a successful compilation in Ubuntu 18.04 and ROS Melodic #354

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19 changes: 13 additions & 6 deletions lsd_slam_core/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -16,8 +16,11 @@ find_package(catkin REQUIRED COMPONENTS
image_transport
roscpp
rosbag
cmake_modules
lsd_slam_msgs
)

find_package(OpenCV REQUIRED)
find_package(Eigen REQUIRED)
find_package(X11 REQUIRED)
include(cmake/FindG2O.cmake)
Expand All @@ -42,7 +45,7 @@ generate_dynamic_reconfigure_options(
catkin_package(
LIBRARIES lsdslam
DEPENDS Eigen SuiteSparse
CATKIN_DEPENDS libg2o
CATKIN_DEPENDS libg2o
)

# SSE flags
Expand Down Expand Up @@ -87,28 +90,32 @@ set(SOURCE_FILES

include_directories(
include
${EIGEN3_INCLUDE_DIR}
${EIGEN_INCLUDE_DIR}
${PROJECT_SOURCE_DIR}/src
${PROJECT_SOURCE_DIR}/thirdparty/Sophus
${CSPARSE_INCLUDE_DIR} #Has been set by SuiteParse
${CHOLMOD_INCLUDE_DIR} #Has been set by SuiteParse
${OpenCV_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
)


# build shared library.
add_library(lsdslam SHARED ${SOURCE_FILES})
target_link_libraries(lsdslam ${FABMAP_LIB} ${G2O_LIBRARIES} ${catkin_LIBRARIES} csparse cxsparse )
add_dependencies(lsdslam ${catkin_EXPORTED_TARGETS})
target_link_libraries(lsdslam ${FABMAP_LIB} ${G2O_LIBRARIES} ${catkin_LIBRARIES} cxsparse X11)
#rosbuild_link_boost(lsdslam thread)


# build live ros node
add_executable(live_slam src/main_live_odometry.cpp)
target_link_libraries(live_slam lsdslam ${catkin_LIBRARIES} ${G2O_LIBRARIES})
add_dependencies(live_slam ${catkin_EXPORTED_TARGETS})
target_link_libraries(live_slam lsdslam ${catkin_LIBRARIES} ${G2O_LIBRARIES} ${OpenCV_LIBRARIES})


# build image node
add_executable(dataset src/main_on_images.cpp)
target_link_libraries(dataset lsdslam ${catkin_LIBRARIES} ${G2O_LIBRARIES})
add_dependencies(dataset ${catkin_EXPORTED_TARGETS})
target_link_libraries(dataset lsdslam ${catkin_LIBRARIES} ${G2O_LIBRARIES} ${OpenCV_LIBRARIES})

# TODO add INSTALL

Expand Down
8 changes: 5 additions & 3 deletions lsd_slam_core/package.xml
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Expand Up @@ -16,20 +16,22 @@
<build_depend>dynamic_reconfigure</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>lsd_slam_viewer</build_depend>
<build_depend>lsd_slam_msgs</build_depend>
<build_depend>rosbag</build_depend>
<build_depend>eigen</build_depend>
<build_depend>suitesparse</build_depend>
<build_depend>libg2o</build_depend>
<build_depend>cmake_modules</build_depend>

<run_depend>cv_bridge</run_depend>
<run_depend>dynamic_reconfigure</run_depend>
<run_depend>sensor_msgs</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>lsd_slam_viewer</run_depend>
<run_depend>lsd_slam_msgs</run_depend>
<run_depend>rosbag</run_depend>
<run_depend>eigen</run_depend>
<run_depend>suitesparse</run_depend>
<run_depend>libg2o</run_depend>

<run_depend>cmake_modules</run_depend>

</package>
8 changes: 4 additions & 4 deletions lsd_slam_core/src/DepthEstimation/DepthMap.cpp
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Expand Up @@ -1111,13 +1111,13 @@ void DepthMap::updateKeyframe(std::deque< std::shared_ptr<Frame> > referenceFram
{
cv::Mat keyFrameImage(activeKeyFrame->height(), activeKeyFrame->width(), CV_32F, const_cast<float*>(activeKeyFrameImageData));
keyFrameImage.convertTo(debugImageHypothesisHandling, CV_8UC1);
cv::cvtColor(debugImageHypothesisHandling, debugImageHypothesisHandling, CV_GRAY2RGB);
cv::cvtColor(debugImageHypothesisHandling, debugImageHypothesisHandling, cv::COLOR_GRAY2RGB);

cv::Mat oldest_refImage(oldest_referenceFrame->height(), oldest_referenceFrame->width(), CV_32F, const_cast<float*>(oldest_referenceFrame->image(0)));
cv::Mat newest_refImage(newest_referenceFrame->height(), newest_referenceFrame->width(), CV_32F, const_cast<float*>(newest_referenceFrame->image(0)));
cv::Mat rfimg = 0.5f*oldest_refImage + 0.5f*newest_refImage;
rfimg.convertTo(debugImageStereoLines, CV_8UC1);
cv::cvtColor(debugImageStereoLines, debugImageStereoLines, CV_GRAY2RGB);
cv::cvtColor(debugImageStereoLines, debugImageStereoLines, cv::COLOR_GRAY2RGB);
}

struct timeval tv_start, tv_end;
Expand Down Expand Up @@ -1238,7 +1238,7 @@ void DepthMap::createKeyFrame(Frame* new_keyframe)
{
cv::Mat keyFrameImage(new_keyframe->height(), new_keyframe->width(), CV_32F, const_cast<float*>(new_keyframe->image(0)));
keyFrameImage.convertTo(debugImageHypothesisPropagation, CV_8UC1);
cv::cvtColor(debugImageHypothesisPropagation, debugImageHypothesisPropagation, CV_GRAY2RGB);
cv::cvtColor(debugImageHypothesisPropagation, debugImageHypothesisPropagation, cv::COLOR_GRAY2RGB);
}


Expand Down Expand Up @@ -1403,7 +1403,7 @@ int DepthMap::debugPlotDepthMap()

cv::Mat keyFrameImage(activeKeyFrame->height(), activeKeyFrame->width(), CV_32F, const_cast<float*>(activeKeyFrameImageData));
keyFrameImage.convertTo(debugImageDepth, CV_8UC1);
cv::cvtColor(debugImageDepth, debugImageDepth, CV_GRAY2RGB);
cv::cvtColor(debugImageDepth, debugImageDepth, cv::COLOR_GRAY2RGB);

// debug plot & publish sparse version?
int refID = referenceFrameByID_offset;
Expand Down
2 changes: 1 addition & 1 deletion lsd_slam_core/src/GlobalMapping/FabMap.cpp
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Expand Up @@ -129,7 +129,7 @@ void FabMap::compareAndAdd(Frame* keyframe, int* out_newID, int* out_loopID)
cv::Mat frame;
cv::Mat keyFrameImage(keyframe->height(), keyframe->width(), CV_32F, const_cast<float*>(keyframe->image()));
keyFrameImage.convertTo(frame, CV_8UC1);
//cv::cvtColor(frame, frame, CV_GRAY2RGB);
//cv::cvtColor(frame, frame, cv::COLOR_GRAY2RGB);

// Generate FabMap bag-of-words data (image descriptor)
cv::Mat bow;
Expand Down
6 changes: 4 additions & 2 deletions lsd_slam_core/src/GlobalMapping/KeyFrameGraph.cpp
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Expand Up @@ -69,8 +69,10 @@ KeyFrameGraph::KeyFrameGraph()
typedef g2o::LinearSolverCSparse<BlockSolver::PoseMatrixType> LinearSolver;
//typedef g2o::LinearSolverPCG<BlockSolver::PoseMatrixType> LinearSolver;
LinearSolver* solver = new LinearSolver();
BlockSolver* blockSolver = new BlockSolver(solver);
g2o::OptimizationAlgorithmLevenberg* algorithm = new g2o::OptimizationAlgorithmLevenberg(blockSolver);
// BlockSolver* blockSolver = new BlockSolver(solver);
BlockSolver* blockSolver = new BlockSolver(std::unique_ptr<LinearSolver>(solver));
// g2o::OptimizationAlgorithmLevenberg* algorithm = new g2o::OptimizationAlgorithmLevenberg(blockSolver);
g2o::OptimizationAlgorithmLevenberg* algorithm = new g2o::OptimizationAlgorithmLevenberg(std::unique_ptr<BlockSolver>(blockSolver));
graph.setAlgorithm(algorithm);

graph.setVerbose(false); // printOptimizationInfo
Expand Down
2 changes: 1 addition & 1 deletion lsd_slam_core/src/GlobalMapping/g2oTypeSim3Sophus.h
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Expand Up @@ -93,7 +93,7 @@ class EdgeSim3 : public g2o::BaseBinaryEdge<7, Sophus::Sim3d, VertexSim3, Vertex

virtual bool setMeasurementData(const double* m)
{
Eigen::Map<const g2o::Vector7d> v(m);
Eigen::Map<const Eigen::Matrix<double, 7 ,1> > v(m);
setMeasurement(Sophus::Sim3d::exp(v));
return true;
}
Expand Down
2 changes: 1 addition & 1 deletion lsd_slam_core/src/IOWrapper/ImageDisplay.h
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Expand Up @@ -48,7 +48,7 @@ inline void displayImage(const char* windowName, const float* image, int width,
cv::Mat floatWrapper(height, width, CV_32F, const_cast<float*>(image));
cv::Mat tempImage(height, width, CV_8UC1);
floatWrapper.convertTo(tempImage, CV_8UC1);
cv::cvtColor(tempImage, tempImage, CV_GRAY2RGB);
cv::cvtColor(tempImage, tempImage, cv::COLOR_GRAY2RGB);
displayImage(windowName, tempImage);
}

Expand Down
16 changes: 8 additions & 8 deletions lsd_slam_core/src/IOWrapper/ROS/ROSOutput3DWrapper.cpp
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Expand Up @@ -25,8 +25,8 @@


#include "std_msgs/Float32MultiArray.h"
#include "lsd_slam_viewer/keyframeGraphMsg.h"
#include "lsd_slam_viewer/keyframeMsg.h"
#include "lsd_slam_msgs/keyframeGraphMsg.h"
#include "lsd_slam_msgs/keyframeMsg.h"

#include "DataStructures/Frame.h"
#include "GlobalMapping/KeyFrameGraph.h"
Expand All @@ -44,13 +44,13 @@ ROSOutput3DWrapper::ROSOutput3DWrapper(int width, int height)
this->height = height;

liveframe_channel = nh_.resolveName("lsd_slam/liveframes");
liveframe_publisher = nh_.advertise<lsd_slam_viewer::keyframeMsg>(liveframe_channel,1);
liveframe_publisher = nh_.advertise<lsd_slam_msgs::keyframeMsg>(liveframe_channel,1);

keyframe_channel = nh_.resolveName("lsd_slam/keyframes");
keyframe_publisher = nh_.advertise<lsd_slam_viewer::keyframeMsg>(keyframe_channel,1);
keyframe_publisher = nh_.advertise<lsd_slam_msgs::keyframeMsg>(keyframe_channel,1);

graph_channel = nh_.resolveName("lsd_slam/graph");
graph_publisher = nh_.advertise<lsd_slam_viewer::keyframeGraphMsg>(graph_channel,1);
graph_publisher = nh_.advertise<lsd_slam_msgs::keyframeGraphMsg>(graph_channel,1);

debugInfo_channel = nh_.resolveName("lsd_slam/debug");
debugInfo_publisher = nh_.advertise<std_msgs::Float32MultiArray>(debugInfo_channel,1);
Expand All @@ -69,7 +69,7 @@ ROSOutput3DWrapper::~ROSOutput3DWrapper()

void ROSOutput3DWrapper::publishKeyframe(Frame* f)
{
lsd_slam_viewer::keyframeMsg fMsg;
lsd_slam_msgs::keyframeMsg fMsg;


boost::shared_lock<boost::shared_mutex> lock = f->getActiveLock();
Expand Down Expand Up @@ -113,7 +113,7 @@ void ROSOutput3DWrapper::publishKeyframe(Frame* f)

void ROSOutput3DWrapper::publishTrackedFrame(Frame* kf)
{
lsd_slam_viewer::keyframeMsg fMsg;
lsd_slam_msgs::keyframeMsg fMsg;


fMsg.id = kf->id();
Expand Down Expand Up @@ -163,7 +163,7 @@ void ROSOutput3DWrapper::publishTrackedFrame(Frame* kf)

void ROSOutput3DWrapper::publishKeyframeGraph(KeyFrameGraph* graph)
{
lsd_slam_viewer::keyframeGraphMsg gMsg;
lsd_slam_msgs::keyframeGraphMsg gMsg;

graph->edgesListsMutex.lock();
gMsg.numConstraints = graph->edgesAll.size();
Expand Down
2 changes: 1 addition & 1 deletion lsd_slam_core/src/LiveSLAMWrapper.cpp
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Expand Up @@ -118,7 +118,7 @@ void LiveSLAMWrapper::newImageCallback(const cv::Mat& img, Timestamp imgTime)
if (img.channels() == 1)
grayImg = img;
else
cvtColor(img, grayImg, CV_RGB2GRAY);
cvtColor(img, grayImg, cv::COLOR_RGB2GRAY);


// Assert that we work with 8 bit images
Expand Down
2 changes: 1 addition & 1 deletion lsd_slam_core/src/main_on_images.cpp
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Expand Up @@ -221,7 +221,7 @@ int main( int argc, char** argv )

for(unsigned int i=0;i<files.size();i++)
{
cv::Mat imageDist = cv::imread(files[i], CV_LOAD_IMAGE_GRAYSCALE);
cv::Mat imageDist = cv::imread(files[i], cv::IMREAD_GRAYSCALE);

if(imageDist.rows != h_inp || imageDist.cols != w_inp)
{
Expand Down
12 changes: 6 additions & 6 deletions lsd_slam_core/src/util/globalFuncs.cpp
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Expand Up @@ -49,11 +49,11 @@ void printMessageOnCVImage(cv::Mat &image, std::string line1,std::string line2)
for(int y=image.rows-30; y<image.rows;y++)
image.at<cv::Vec3b>(y,x) *= 0.5;

cv::putText(image, line2, cvPoint(10,image.rows-5),
CV_FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(200,200,250), 1, 8);
cv::putText(image, line2, cv::Point(10,image.rows-5),
cv::FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(200,200,250), 1, 8);

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


Expand All @@ -71,7 +71,7 @@ cv::Mat getDepthRainbowPlot(const float* idepth, const float* idepthVar, const f
cv::Mat keyFrameImage(height, width, CV_32F, const_cast<float*>(gray));
cv::Mat keyFrameImage8u;
keyFrameImage.convertTo(keyFrameImage8u, CV_8UC1);
cv::cvtColor(keyFrameImage8u, res, CV_GRAY2RGB);
cv::cvtColor(keyFrameImage8u, res, cv::COLOR_GRAY2RGB);
}
else
fillCvMat(&res,cv::Vec3b(255,170,168));
Expand Down Expand Up @@ -136,7 +136,7 @@ cv::Mat getVarRedGreenPlot(const float* idepthVar, const float* gray, int width,
cv::Mat keyFrameImage(height, width, CV_32F, const_cast<float*>(gray));
cv::Mat keyFrameImage8u;
keyFrameImage.convertTo(keyFrameImage8u, CV_8UC1);
cv::cvtColor(keyFrameImage8u, res, CV_GRAY2RGB);
cv::cvtColor(keyFrameImage8u, res, cv::COLOR_GRAY2RGB);
}
else
fillCvMat(&res,cv::Vec3b(255,170,168));
Expand Down
2 changes: 1 addition & 1 deletion lsd_slam_core/thirdparty/openFabMap/samples/openFABMAPcli.cpp
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Expand Up @@ -884,7 +884,7 @@ void drawRichKeypoints(const cv::Mat& src, std::vector<cv::KeyPoint>& kpts, cv::

cv::Mat grayFrame;
cvtColor(src, grayFrame, CV_RGB2GRAY);
cvtColor(grayFrame, dst, CV_GRAY2RGB);
cvtColor(grayFrame, dst, cv::COLOR_GRAY2RGB);

if (kpts.size() == 0) {
return;
Expand Down
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