Ubuntu20.04 Kimera Semantic运行记录
Kimera VIO ROS
配置
MIT Kimera-VIO-ROS 安装
mkdir -p Kimera_ws/src
cd Kimera_ws
catkin init
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -DGTSAM_TANGENT_PREINTEGRATION=OFF
catkin config --merge-devel
cd src
git clone https://github.com/ToniRV/mesh_rviz_plugins.git
git clone https://github.com/MIT-SPARK/Kimera-VIO-ROS.git
# 切换版本
cd Kimera-VIO-ROS
git checkout 9b8aeae
cd ..
wstool init
wstool merge Kimera-VIO-ROS/install/kimera_vio_ros_https.rosinstall
wstool update
# 更换gtsam版本
rm -rf gtsam
# zph环境
git clone -b 4.1.1 https://github.com/borglab/gtsam.git
# 更换Kimera-RPGO版本
cd Kimera-RPGO
git checkout 9e1bf93
# 更换Kimera-VIO版本
cd ../Kimera-VIO
git checkout 641576f
# 更换Kimera-VIO-ROS版本
cd ../Kimera-VIO-ROS
git checkout 9b8aeae
# 编译
catkin build
测试
roslaunch kimera_vio_ros kimera_vio_ros_euroc.launch online:=true run_stereo_dense:=true
rviz -d $(rospack find kimera_vio_ros)/rviz/kimera_vio_euroc.rviz
rosbag play --clock MH_01_easy.bag
d455 运行
- d455_camchain.yaml
复制一份Kimera_VIO_catkin_ws/src/Kimera-VIO-ROS/cfg/calib/euroc_camchain.yaml改为d455_camchain.yaml，并将相关参数填入 - kimera_vio_ros_d455.launch
复制一份Kimera_VIO_catkin_ws/src/Kimera-VIO-ROS/launch/kimera_vio_ros_euroc.launch改为kimera_vio_ros_d455.launch，并修改：
<arg name="dataset_name" value="D455"/>
# 如果是rosbag需要注意改动
<arg name="online" default="true" />
<param name="use_sim_time" value="false"/>
<arg name="rosbag_path" default="/home/toniht/datasets/realsense/corridor_1.bag"
unless="$(arg online)"/>
<rosparam file="$(find kimera_vio_ros)/cfg/calib/d455_camchain.yaml"/>
<remap from="raw/first/image" to="/camera/infra1/image_rect_raw"/>
<remap from="raw/second/image" to="/camera/infra2/image_rect_raw"/>
<remap from="raw/first/camera_info" to="/camera/infra1/camera_info"/>
<remap from="raw/second/camera_info" to="/camera/infra2/camera_info"/>
<include file="$(find kimera_vio_ros)/launch/kimera_vio_ros_1.launch"
pass_all_args="true"/>
添加，参数按需修改
<arg name="should_use_sim_time" value="false"/>
<!-- Subscribed Topics -->
<arg name="left_cam_topic" default="/camera/infra1/image_rect_raw"/>
<arg name="left_cam_info_topic" default="/camera/infra1/camera_info"/>
<arg name="right_cam_topic" default="/camera/infra2/image_rect_raw"/>
<arg name="right_cam_info_topic" default="/camera/infra2/camera_info"/>
<arg name="imu_topic" default="/camera/imu"/>
-
kimera_vio_d455.rviz
复制一份Kimera_VIO_catkin_ws/src/Kimera-VIO-ROS/rviz/kimera_vio_euroc.rviz改为kimera_vio_d455.rviz
可以在后续打开后修改保存 -
D455相机参数
复制一份Kimera_VIO_catkin_ws/src/Kimera-VIO/params/Euroc改为D455，在对应的LeftCameraParams.yaml、RightCameraParams.yaml、ImuParams.yaml填入相机参数
运行结果
roslaunch kimera_vio_ros kimera_vio_ros_d455.launch run_stereo_dense:=true
rviz -d $(rospack find kimera_vio_ros)/rviz/kimera_vio_d455.rviz
Kimera semantic
以下基本为官方教程
sudo apt-get install python3-wstool python3-catkin-tools protobuf-compiler autoconf
sudo apt-get install ros-noetic-cmake-modules
# Setup catkin workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin init
catkin config --extend /opt/ros/noetic
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin config --merge-devel
# Add workspace to bashrc.
echo 'source ~/catkin_ws/devel/setup.bash' >> ~/.bashrc
# Clone repo
cd ~/catkin_ws/src
git clone https://github.com/MIT-SPARK/Kimera-Semantics.git
# 添加mesh
git clone https://github.com/ToniRV/mesh_rviz_plugins.git
# Install dependencies from rosinstall file using wstool
wstool init # Use unless wstool is already initialized
# Optionally add Kimera-Semantics to the rosinstall file
# wstool scrape
# For https:
wstool merge Kimera-Semantics/install/kimera_semantics_https.rosinstall
# Download and update all dependencies
wstool update
# Compile code
catkin build kimera_semantics_ros mesh_rviz_plugins # 见ERROR1
# Refresh workspace
source ~/catkin_ws/devel/setup.bash
测试
roslaunch kimera_vio_ros kimera_vio_ros_euroc.launch run_stereo_dense:=true
roslaunch kimera_semantics_ros kimera_semantics_euroc.launch
rviz -d $(rospack find kimera_semantics_ros)/rviz/kimera_semantics_euroc.rviz
rosbag play --clock MH_01_easy.bag
d455 运行
可能没记全，因为是一开始忘了，全部复现完成后才重新记录的。
- kimera_semantic_d455.launch
复制一份Kimera_semantic_catkin_ws/src/Kimera-Semantics/kimera_semantics_ros/launch/kimera_semantics_euroc.launch改为kimera_semantic_d455.launch
修改
<param name="use_sim_time" value="false" />
# 添加参数，传递给kimera_semantics_ros.launch
<arg name="should_use_sim_time" value="false" />
<arg name="left_cam_info_topic" default="/camera/infra1/camera_info"/>
<arg name="right_cam_info_topic" default="/camera/infra2/camera_info"/>
<arg name="left_cam_topic" default="/camera/infra1/image_rect_raw"/>
<arg name="right_cam_topic" default="/camera/infra2/image_rect_raw"/>
# 暂时是在复现，不需要点云，订阅了VIO发布的点云/stereo_gray/dense_stereo/pointcloud
<arg name="publish_point_clouds" default="false"/>
- kimera_semantics_d455.rviz
复制一份Kimera_semantic_catkin_ws/src/Kimera-Semantics/kimera_semantics_ros/rviz/kimera_semantics_euroc.rviz改为kimera_semantics_d455.rviz
后续可以在rviz中保存
运行
roslaunch kimera_vio_ros kimera_vio_ros_d455.launch run_stereo_dense:=true
roslaunch kimera_semantics_ros kimera_semantics_d455.launch
rviz -d $(rospack find kimera_semantics_ros)/rviz/kimera_semantics_d455.rviz
有mesh出来了，但是效果很差，可能是相机参数或者程序参数设置问题，后续再调
语义分割
目前使用的是deeplab_ros_pytorch
虚拟环境deeplab_ros
mkdir -p deeplab_ws/src
cd deeplab_ws
catkin init
cd src
git clone https://gitee.com/lu_ting_fei/ros-pytorch-deeplabv3.git
catkin config -DPYTHON_EXECUTABLE=/home/toniht/anaconda3/envs/deeplab_ros/bin/python -DPYTHON_INCLUDE_DIR=/home/toniht/anaconda3/envs/deeplab_ros/include/python3.8m -DPYTHON_LIBRARY=/home/toniht/anaconda3/envs/deeplab_ros/lib/libpython3.8.so -DCMAKE_BUILD_TYPE=Release -DSETUPTOOLS_DEB_LAYOUT=OFF
catkin_build
修改文件
deeplab_ws/src/ros-pytorch-deeplabv3/Img_seg_ros/predict.py
开始添加
sys.path.append('/home/toniht/workspace/deeplab_ws/src/ros-pytorch-deeplabv3/Img_seg_ros')
最后修改
img_topic=
ckpt =
并修改
# 发布语义图像到ROS
ros_frame = bridge.cv2_to_imgmsg(seg_cv_img, "bgr8")
ros_frame.header.stamp = rospy.Time.now()
ros_frame.header.frame_id = "cam0" # 新增，方便后面发布语义点云时frame id一致
需要改为mask_rcnn
conda create -n mask_rcnn_ros python=3.7
conda activate mask_rcnn_ros
pip install boost protobuf scipy scikit-image ipython 'keras==2.4.3' opencv==3.4.10.35
pip install tensorflow-gpu==2.4.0
cd ~/catkin_ws/src
git clone https://github.com/ethz-asl/mask_rcnn_ros.git
git clone https://github.com/ethz-asl/depth_segmentation.git
git clone https://github.com/ethz-asl/opencv3_catkin.git
git clone https://github.com/ethz-asl/pcl_catkin.git
catkin build # 见 ERROR 2-7
# 如果找不到opencv或者pcl，删除重新编译
catkin build pcl_catkin opencv3_catkin
运行报错见ERROR 8、9
测试中
conda create -n mrcnn_ros python=3.8
conda activate mrcnn_ros
empy gdal boost pyyaml catkin_pkg
pip install boost protobuf scipy scikit-image ipython
pip install opencv-python==3.4.10.35
# tensorflow 1.15 https://flashgene.com/archives/242055.html
pip install nvidia-pyindex
pip install nvidia-tensorflow
catkin config -DPYTHON_EXECUTABLE=/home/toniht/anaconda3/envs/mrcnn_ros/bin/python -DPYTHON_INCLUDE_DIR=/home/toniht/anaconda3/envs/mrcnn_ros/include/python3.8 -DPYTHON_LIBRARY=/home/toniht/anaconda3/envs/mrcnn_ros/lib/libpython3.8.so -DCMAKE_BUILD_TYPE=Release -DSETUPTOOLS_DEB_LAYOUT=OFF
# 不改变c++路径的话会报错，但是忘记复制，应该是构建失败啥的来着
export CPLUS_INCLUDE_PATH=/home/toniht/anaconda3/envs/mrcnn_ros/include/python3.8:$CPLUS_INCLUDE_PATH
catkin build
ERROR
ERROR 1：
Errors << kimera_semantics_ros:make /home/toniht/workspace/Kimera_semantic_catkin_ws/logs/kimera_semantics_ros/build.make.000.log
In file included from /usr/include/pcl-1.10/pcl/pcl_macros.h:77,
from /usr/include/pcl-1.10/pcl/point_types.h:42,
from /home/toniht/workspace/Kimera_semantic_catkin_ws/src/Kimera-Semantics/kimera_semantics_ros/include/kimera_semantics_ros/semantic_simulation_server.h:8,
from /home/toniht/workspace/Kimera_semantic_catkin_ws/src/Kimera-Semantics/kimera_semantics_ros/src/semantic_simulation_server.cpp:1:
/usr/include/pcl-1.10/pcl/pcl_config.h:7:4: error: #error PCL requires C++14 or above
7 | #error PCL requires C++14 or above
FIX:
把对应的CMakeLists.txt文件中c++标准改为14(应该是两个kimera_semantics_ros和mesh)
set(CMAKE_CXX_STANDARD 14)
mesh中直接将c++11改为c++14就行
ERROR 2:
Could not find a package configuration file provided by "catkin_simple"
with any of the following names:
catkin_simpleConfig.cmake
catkin_simple-config.cmake
FIX:
cd src
git clone https://github.com/catkin/catkin_simple
ERROR 3：
Errors << pcl_catkin:cmake /home/toniht/workspace/mask_rcnn_catkin_ws/logs/pcl_catkin/build.cmake.000.log
CMake Error at /home/toniht/workspace/mask_rcnn_catkin_ws/src/pcl_catkin/pcl_catkin/CMakeLists.txt:15 (MESSAGE):
CMAKE_BUILD_TYPE must not be empty!
FIX:
catkin clean -y
catkin config -DCMAKE_BUILD_TYPE=Release
ERROR 4：
/home/toniht/anaconda3/envs/mask_rcnn_ros/include/boost/python/detail/wrap_python.hpp:57:11: fatal error: pyconfig.h: 没有那个文件或目录
57 | # include <pyconfig.h>
FIX:
export CPLUS_INCLUDE_PATH=/home/toniht/anaconda3/envs/mask_rcnn_ros/include/python3.7m:$CPLUS_INCLUDE_PATH
ERROR 5：
/home/toniht/anaconda3/envs/mask_rcnn_ros/lib/python3.7/site-packages/numpy/core/include/numpy/__multiarray_api.h:1532:151: error: return-statement with a value, in function returning ‘void’ [-fpermissive]
1532 | #define import_array() {if (_import_array() < 0) {PyErr_Print(); PyErr_SetString(PyExc_ImportError, "numpy.core.multiarray failed to import"); return NULL; } }
FIX:
import_array()报错，返回值类型与函数类型不匹配
ERROR 6：
/home/toniht/anaconda3/envs/mask_rcnn_ros/include/boost/bind.hpp:36:1: note: in expansion of macro ‘BOOST_PRAGMA_MESSAGE’
36 | BOOST_PRAGMA_MESSAGE(
| ^~~~~~~~~~~~~~~~~~~~
/usr/bin/ld: 找不到 -lBoost::system
/usr/bin/ld: 找不到 -lBoost::filesystem
/usr/bin/ld: 找不到 -lBoost::thread
collect2: error: ld returned 1 exit status
FIX:
在depth_segmentation的CMakeLists.txt中添加
# 设置虚拟环境路径
set(VIRTUAL_ENV_PATH "/home/toniht/anaconda3/envs/mask_rcnn_ros")
# 设置 Boost 头文件和库的路径
set(Boost_INCLUDE_DIR "${VIRTUAL_ENV_PATH}/include")
set(Boost_LIBRARY_DIR "${VIRTUAL_ENV_PATH}/lib")
find_package(Boost COMPONENTS system filesystem thread REQUIRED)
include_directories(${Boost_INCLUDE_DIRS})
link_directories(${Boost_LIBRAYY_DIRS})
ERROR 7：
/usr/bin/ld: /home/toniht/workspace/kimera_mask_rcnn_ws/devel/lib/libkimera_semantics_ros.so: undefined reference to `cv::String::deallocate()'
FIX:
ubuntu20.04+opencv4.2.0编译kimera
在kimera_semantics_ros的CMakeLists.txt中加入
find_package(opencv3_catkin REQUIRED)
# 在最后面加
target_link_libraries(${PROJECT_NAME} ${opencv3_catkin_LIBRARIES})
ERROR 8:
'module' object has no attribute 'placeholder'
FIX：
tensorflow2.x和tensorflow1.x的差异
修改两个文件Kimera_semantic_catkin_ws/src/mask_rcnn_ros/src/mask_rcnn_ros/model.py和/home/toniht/anaconda3/envs/mask_rcnn_ros/lib/python3.7/site-packages/keras/backend/tensorflow_backend.py
将其中的
import tensorflow as tf
-> import tensorflow.compat.v1 as tf
tf.disable_v2_behavior()
ERROR 9：
File "/home/toniht/anaconda3/envs/mask_rcnn_ros/lib/python3.7/site-packages/keras/engine/topology.py", line 3418, in load_weights_from_hdf5_group_by_name
original_keras_version = f.attrs['keras_version'].decode('utf8')
AttributeError: 'str' object has no attribute 'decode'
FIX:
pip install 'h5py<3.0.0'
ERROR 10:
File "/home/toniht/workspace/kimera_mask_rcnn_ws/src/mask_rcnn_ros/src/mask_rcnn_ros/utils.py", line 420, in resize_image
image = scipy.misc.imresize(
AttributeError: module 'scipy.misc' has no attribute 'imresize'
FIX:
修改报错文件utils.py
# 添加
from skimage.transform import resize
# 修改报错语句
image = resize(
image, (int(round(h * scale)), int(round(w * scale))))
ERROR 11:
/home/toniht/anaconda3/envs/mrcnn_ros/lib/python3.8/site-packages/numpy/core/include/numpy/__multiarray_api.h:1553:151: error: return-statement with a value, in function returning ‘void’ [-fpermissive]
1553 | #define import_array() {if (_import_array() < 0) {PyErr_Print(); PyErr_SetString(PyExc_ImportError, "numpy.core.multiarray failed to import"); return NULL; } }
FIX:
修改"/home/toniht/anaconda3/envs/mrcnn_ros/lib/python3.8/site-packages/numpy/core/include/numpy/__multiarray_api.h"
删去对应的NULL，重新编译
