SLAM

bouja

Hello everyone,
So i am trying to test a SLAM algo with OAK camera following the steps in the tuto of https://www.arducam.com/docs/opencv-ai-kit-oak/performing-location-with-visual-slam/#ftoc-heading-9.
I have a problem in the step 5.5 when building the last 3 targets kitti_gps_test, kitti_odom_test and vins_node. I have as an error :
usr/bin/ld : /home/mehdi/Bureau/stage/depthai/ros_workspace/OAK_Nvidia_Jetson_ROS_SLAM_VINS/VINS_GPU/devel/lib/libvins_lib.so : undefined reference to « cv::cuda::createGoodFeaturesToTrackDetector(int, int, double, double, int, bool, double) »
/usr/bin/ld : /home/mehdi/Bureau/stage/depthai/ros_workspace/OAK_Nvidia_Jetson_ROS_SLAM_VINS/VINS_GPU/devel/lib/libvins_lib.so : undefined reference to « cv::cuda::SparsePyrLKOpticalFlow::create(cv::Size_<int>, int, int, bool) »
I tried all solutions on internet but without any result.

erik

Hello bouja ,
I think this tutorial is newer and more relevant: https://qiita.com/nindanaoto/items/20858eca08aad90b5bab
Could you try it out instead?
Thanks, Erik

ostepan2006

Hello erik

Might this totorial somehow will be implemented without LXD? Is LXD mandatory? Might anyone will posted here the step-by-step tutorial without LXD? Thanks.

bouja

Hello Erik,
Thank you for your reply, I will try this one instead.

erik

Hi ostepan2006 ,
To be honest I am not sure - I would think if you're using ubuntu 20.04 (as what is specified in the article) there shouldn't be an issue if you are using all the same library versions.

ostepan2006

erik thanks.

I am using ubuntu 18.04. Will be a problem with that?

erik

ostepan2006 My guess would be "yes" - and if you are asking me this (depthai support engineer, nothing with linux), you should very much follow the tutorial and use lxd.

ostepan2006

erik thanks

As I undersatnd I have to have ubuntu 20.04 on host computer, will had run LXD-container and then I can will had implemented above mentonied tutorial. Right?