Can't run run_slam node with SocketViewer (with Pangolin everything is OK)

[andyreynolds99]

Describe the bug

Can't run run_slam node with SocketViewer (with Pangolin everything is OK).

To Reproduce

Steps to reproduce the behavior:

1. run the node rosrun stella_vslam_ros run_slam -v ../orb_vocab.fbow -c ../stella_vslam/example/euroc/EuRoC_mono.yaml --viewer socket_publisher
2. Setup image topic: rosrun image_transport republish raw in:=/camera/infra1/image_rect_raw raw out:=/camera/image_raw
3. run the rosbag file: rosbag play MH_01_easy.bag
4. See error:

socket_publisher not linked

Allowed options:
(some stuff)

free(): invalid pointer
Segmentation fault (core dumped)

The same error and output is when running ./run_euroc_slam. Maybe it's simpler to fix it in the examples due to easier debugging.

config file:

# EuRoC monocular model

Camera:
  name: "EuRoC monocular"
  setup: "monocular"
  model: "perspective"

  fx: 458.654
  fy: 457.296
  cx: 367.215
  cy: 248.375

  k1: -0.28340811
  k2: 0.07395907
  p1: 0.00019359
  p2: 1.76187114e-05
  k3: 0.0

  fps: 20.0
  cols: 752
  rows: 480

  color_order: "Gray"

Preprocessing:
  min_size: 800

Feature:
  name: "default ORB feature extraction setting"
  scale_factor: 1.2
  num_levels: 8
  ini_fast_threshold: 20
  min_fast_threshold: 7

Mapping:
  backend: "g2o"
  baseline_dist_thr_ratio: 0.02
  redundant_obs_ratio_thr: 0.9
  num_covisibilities_for_landmark_generation: 20
  num_covisibilities_for_landmark_fusion: 20
  erase_temporal_keyframes: false
  num_temporal_keyframes: 15

Tracking:
  backend: "g2o"
  enable_temporal_keyframe_only_tracking: false

KeyframeInserter:
  wait_for_local_bundle_adjustment: false

Relocalizer:
  search_neighbor: true

LoopDetector:
  backend: "g2o"

System:
  map_format: "msgpack"
  num_grid_cols: 47
  num_grid_rows: 30

PangolinViewer:
  keyframe_size: 0.07
  keyframe_line_width: 1
  graph_line_width: 1
  point_size: 2
  camera_size: 0.08
  camera_line_width: 3
  viewpoint_x: 0
  viewpoint_y: -0.65
  viewpoint_z: -1.9
  viewpoint_f: 400

Expected behavior

I expected when opening in browser https://127.0.0.1:3001 something like Pangolin shows will be seen, but there is and empty environment (web server is up and running).

Screenshots or videos

Environment

• Hardware: [e.g. PC x86_64]
• CPU: [e.g. Ryzen 5800u]
• OS: [e.g. Ubuntu 20.04]
• Commit id: [e.g. stella_vslam=577cb04d9245aa68b0905212293a802292d01787, stella_vslam_ros=fdbd287d80a3a5cc4ac1a143dc937adb4697b120]
• Install procedure: [native]
• dataset: [EuRoC MH_01_easy]

[ymd-stella]

Did you install it with docker or did you install it yourself? Use the Environment template.

I think you probably don't have socket_publisher installed. See https://stella-cv.readthedocs.io/en/latest/installation.html#build-instructions.

[andyreynolds99]

I installed stella-vslam and built stella-vslam-examples myself on Ubuntu 20.04, not using Docker. I've installed socket_publisher, I run sudo make install command again:

build$ sudo make install
[sudo] password for user: 
CMake Warning (dev) at /usr/share/cmake-3.16/Modules/FindOpenGL.cmake:275 (message):
  Policy CMP0072 is not set: FindOpenGL prefers GLVND by default when
  available.  Run "cmake --help-policy CMP0072" for policy details.  Use the
  cmake_policy command to set the policy and suppress this warning.

  FindOpenGL found both a legacy GL library:

    OPENGL_gl_LIBRARY: /usr/lib/x86_64-linux-gnu/libGL.so

  and GLVND libraries for OpenGL and GLX:

    OPENGL_opengl_LIBRARY: /usr/lib/x86_64-linux-gnu/libOpenGL.so
    OPENGL_glx_LIBRARY: /usr/lib/x86_64-linux-gnu/libGLX.so

  OpenGL_GL_PREFERENCE has not been set to "GLVND" or "LEGACY", so for
  compatibility with CMake 3.10 and below the legacy GL library will be used.
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /usr/local/lib/cmake/g2o/g2oConfig.cmake:4 (find_dependency)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /usr/local/lib/cmake/stella_vslam/stella_vslamConfig.cmake:7 (find_dependency)
  CMakeLists.txt:6 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found protoc executable: /usr/bin/protoc
-- Build type: RelWithDebInfo
-- Configuring done
-- Generating done
-- Build files have been written to: <path prefix>/socket_publisher/build
[100%] Built target socket_publisher
Install the project...
-- Install configuration: "RelWithDebInfo"
-- Installing: /usr/local/lib/cmake/socket_publisher/socket_publisherConfigVersion.cmake
-- Installing: /usr/local/lib/cmake/socket_publisher/socket_publisherConfig.cmake
-- Installing: /usr/local/lib/cmake/socket_publisher/socket_publisherTargets.cmake
-- Installing: /usr/local/lib/cmake/socket_publisher/socket_publisherTargets-relwithdebinfo.cmake
-- Installing: /usr/local/lib/libsocket_publisher.so
-- Set runtime path of "/usr/local/lib/libsocket_publisher.so" to ""
-- Installing: /usr/local/include/socket_publisher/data_serializer.h
-- Installing: /usr/local/include/socket_publisher/publisher.h
-- Installing: /usr/local/include/socket_publisher/socket_client.h

So, I followed the guide. It's very similar to one for Pangolin and with that one it works.

[andyreynolds99]

OK. It was a problem with socket_publisher indeed. Initially there was no socketio installed and stella_vslam_examples compiled successfully with Pangolin by default. Later, I installed everything related to the SocketViewer and somehow managed to rebuild the examples. Then, after filing mi issue here, I tried to rebuild socket_publisher and got an error:
/usr/bin/ld: CMakeFiles/run_loop_closure.dir/src/run_loop_closure.cc.o: in function

`socket_publisher::socket_client::~socket_client()':
/usr/local/include/socket_publisher/socket_client.h:14: undefined reference to `sio::client::~client()'

It's known problem and it's solved by adding sioclient library when linking: socketio/socket.io-client-cpp#179
So, I changed a bit CMakeLists.txt and managed to build the stella_vslam_examples that now work with the SocketViewer. Do you think I should commit my changes?
CMakeLists-stella-vslam-examples.txt
CMakeLists-stella_vslam_ros.txt

I attach my version of CMakeList.txt for both stella-vslam-examples and stella_vslam_ros. Sorry, I'm not very experienced in CMake, so I suspect that the changes might be done cleaner.

[ymd-stella]

Did you use the following forked version?

https://github.com/shinsumicco/socket.io-client-cpp