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求助:教程(18)无法找到dso_live (已结帖)



  • 在练习教程18 使用DSO_SLAM进行三维建模 时,遇到问题求助:

    前面DSO的编译和安装是完全按照教程进行的,但是最后rosrun dso_ros dso_live 时报错:

    xiaoqiang@xiaoqiang-desktop:~/Documents/ros/src/dso_ros$ rosrun dso_ros dso_live image:=/camera_node/image_raw calib=/home/xiaoqiang/Documents/ros/src/dso_ros/camera.txt mode=1

    [rosrun] Couldn’t find executable named dso_live below /home/xiaoqiang/Documents/ros/src/dso_ros



  • 删掉ros/build 目录后,重新编译,
    再次执行rosrun dso_ros dso_live, 错误类型变成了:
    could not parse argument “mode=1”!!

    ========================================
    loading calibration from /home/xiaoqiang/Documents/ros/src/dso_ros/camera.txt!
    could not parse argument “mode=1”!!
    MODE WITH CALIBRATION, but without exposure times!
    Reading Calibration from file /home/xiaoqiang/Documents/ros/src/dso_ros/camera.txt … found!
    found RadTan (OpenCV) camera model, building rectifier.
    Creating RadTan undistorter
    Input resolution: 640 480
    In: 367.720384 369.850464 312.163378 222.327969 -0.302804 0.080163 0.001972 -0.000586
    Out: Rectify Crop
    Output resolution: 640 480
    finding CROP optimal new model!
    initial range: x: -1.1532 - 1.2409; y: -0.6982 - 0.8408!
    iteration 00001: range: x: -1.1475 - 1.2347; y: -0.6982 - 0.8408!
    iteration 00002: range: x: -1.1417 - 1.2285; y: -0.6982 - 0.8408!
    iteration 00003: range: x: -1.1360 - 1.2224; y: -0.6982 - 0.8408!
    iteration 00004: range: x: -1.1360 - 1.2224; y: -0.6947 - 0.8366!
    iteration 00005: range: x: -1.1360 - 1.2224; y: -0.6912 - 0.8324!
    iteration 00006: range: x: -1.1360 - 1.2224; y: -0.6912 - 0.8324!

    Rectified Kamera Matrix:
    270.95 0 307.8
    0 314.369 217.307
    0 0 1

    NO PHOTOMETRIC Calibration!
    Reading Photometric Calibration from file
    PhotometricUndistorter: Could not open file!
    using pyramid levels 0 to 3. coarsest resolution: 80 x 60!
    START PANGOLIN!
    terminate called after throwing an instance of ‘std::runtime_error’
    what(): Pangolin X11: Failed to open X display
    Aborted (core dumped)



  • @山中客求助:教程(18)无法找到dso_live 中说:

    Pangolin X11: Failed to open X display
    Aborted

    这个原因找到了,最后的Pangolin X11: Failed to open X display
    Aborted (core dumped),是由于在ssh 下pangolin 无法显示图像。

    整个问题实际上在重编ROS 后解决的,另外dso_ros dso_live 不能通过ssh 执行,需要直接在小强主机或VNC 环境下执行。

    问题close.


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