《SLAM十四讲》slambook2 遇到的坑
ch5
01
安装opencv时，正常安装后便可以使用，注意检查CmakeLists.txt文件有没有搜索包含opencv库
02
问题：在编译高博的视觉SLAM十四讲第5讲的imageBasics.cpp时，出现编译错误：
Scanning dependencies of target joinMap
[ 87%] Building CXX object rgbd/CMakeFiles/joinMap.dir/joinMap.cpp.o
/home/wj/STUDY/slambook2/ch5/rgbd/joinMap.cpp:4:10: fatal error: boost/format.hpp: No such file or directory
4 |
| ^~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [rgbd/CMakeFiles/joinMap.dir/build.make:63: rgbd/CMakeFiles/joinMap.dir/joinMap.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:219: rgbd/CMakeFiles/joinMap.dir/all] Error 2
make: *** [Makefile:84: all] Error 2
解决方法：安装libboost-all-dev：
sudo apt-get install libboost-all-dev
————————————————
参考链接
03
问题：编译rgbd，链接joinMap报错
100%] Linking CXX executable joinMap
/usr/bin/ld: CMakeFiles/joinMap.dir/joinMap.cpp.o: in function char const* fmt::v8::detail::parse_replacement_field<char, fmt::v8::detail::format_string_checker<char, fmt::v8::detail::error_handler, Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0, 4, 1> > >&>(char const*, char const*, fmt::v8::detail::format_string_checker<char, fmt::v8::detail::error_handler, Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0, 4, 1> > >&)':
joinMap.cpp:(.text._ZN3fmt2v86detail23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS5_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SE_SE_OT0_[_ZN3fmt2v86detail23parse_replacement_fieldIcRNS1_21format_string_checkerIcNS1_13error_handlerEJN5Eigen9TransposeINS5_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEEEEEEPKT_SE_SE_OT0_]+0x149): undefined reference to ::v8::detail::throw_format_error(char const*)'
此处省略10240字符
/usr/bin/ld: joinMap.cpp:(.text._ZN3fmt2v86detail18fallback_formatterIN5Eigen9TransposeINS3_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEcvE6formatINS0_8appenderEEET_RKS7_RNS0_20basic_format_contextISB_cEE[_ZN3fmt2v86detail18fallback_formatterIN5Eigen9TransposeINS3_6MatrixIdLi4ELi1ELi0ELi4ELi1EEEEEcvE6formatINS0_8appenderEEET_RKS7_RNS0_20basic_format_contextISB_cEE]+0xd62): undefined reference to fmt::v8::detail::throw_format_error(char const*)'
collect2: error: ld returned 1 exit status
make[2]: *** [rgbd/CMakeFiles/joinMap.dir/build.make:154: rgbd/joinMap] Error 1
make[1]: *** [CMakeFiles/Makefile2:219: rgbd/CMakeFiles/joinMap.dir/all] Error 2
make: *** [Makefile:84: all] Error 2
</code></pre>
<p>解决方法：
rgbd目录下CMakeLists.txt文件不完整（啊这~），对其进行补充。</p>
<pre><code class="language-bash">find_package(Sophus REQUIRED)
include_directories(${Sophus_INCLUDE_DIRS})
find_package(Pangolin REQUIRED)
add_executable(joinMap joinMap.cpp)
target_link_libraries(joinMap ${OpenCV_LIBS} ${Pangolin_LIBRARIES})
</code></pre>
<p>正确的内容如下：</p>
<pre><code class="language-bash">project(rgbd)
cmake_minimum_required(VERSION 3.10)
find_package(Sophus REQUIRED)
add_executable(joinMap joinMap.cpp)
include_directories(${Sophus_INCLUDE_DIRS})
find_package(OpenCV REQUIRED)
include_directories( ${OpenCV-INCLUDE_DIRS})
target_link_libraries(joinMap ${OpenCV_LIBS} ${Pangolin_LIBRARIES})
find_package(Pangolin REQUIRED)
target_link_libraries(joinMap ${OpenCV_LIBS} ${Pangolin_LIBRARIES})
include_directories("/usr/local/include/eigen3")
target_link_libraries(joinMap ${Sophus_LIBRARIES} fmt)
set(CMAKE_CXX_FLAGS "-std=c++11")
</code></pre>
<p>————————————————
<a href="https://blog.csdn.net/weixin_53660567/article/details/120074124">参考链接</a></p>
<p>ch10</p>
<p><strong>01</strong>
问题：编译安装g2o_viewer
解决方法：</p>
<p>1、先安装一些库：</p>
<pre><code class="language-bash">sudo apt-get install libsuitesparse-dev qtdeclarative5-dev qt5-qmake
sudo apt-get install libqglviewer-dev-qt5
</code></pre>
<p>2、重新编译整个g2o库</p>
<pre><code class="language-bash">cd g2o
mkdir build
cd build
cmake ..
make
sudo make install
</code></pre>
<p>3、 打开g2o_viewer</p>
<p>在g2o/bin目录下运行：</p>
<pre><code class="language-bash">~/slambook2/3rdparty/g2o/bin$ ./g2o_viewer
</code></pre>
<p>————————————————
<a href="https://blog.csdn.net/weixin_43728093/article/details/121027502">参考链接</a></p>
<p>ch12</p>
<p><strong>01</strong>
问题：PCL相关报错</p>
<pre><code class="language-bash">** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
-- Eigen found (include: /usr/include/eigen3, version: 3.3.7)
-- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb)
-- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so;libusb::libusb)
-- Could NOT find Qhull (missing: QHULL_INCLUDE_DIR)
** WARNING ** surface features related to qhull will be disabled
</code></pre>
<p>解决方法：</p>
<p>1、删除build目录。重新cmake，不管pcap和png</p>
<p>————————————————
<a href="https://github.com/cnr-isti-vclab/meshlab/discussions/872">参考链接</a>
————————————————
<strong>02</strong></p>
<p>编译问题：</p>
<pre><code class="language-bash">This header is deprecated. Use the facilities in <boost/timer/timer.hpp> instead.
BOOST_HEADER_DEPRECATED( "the facilities in " )
</code></pre>
<p>办法：</p>
<pre><code class="language-bash">将dense_mapping.cpp头文件
</code></pre>
<p>编译问题：</p>
<pre><code class="language-bash"> 'CV_GRAY2BGR' was not declared in this scope
cv::cvtColor(ref, ref_show, CV_GRAY2BGR);
</code></pre>
<p>办法：</p>
<pre><code class="language-bash">将所有cv::cvtColor(ref, ref_show, CV_GRAY2BGR)中CV_GRAY2BGR改为COLOR_GRAY2BGR
</code></pre>
<p>————————————————
<a href="https://www.cxyzjd.com/article/dahailuoa6/94555333">参考链接</a>
————————————————
<strong>03</strong>
fmt相关
编译问题：</p>
<pre><code class="language-bash">dense_mapping.cpp:(.text+0x31): undefined reference to ::v8::vprint(fmt::v8::basic_string_view<char>, fmt::v8::basic_format_args<fmt::v8::basic_format_context<fmt::v8::appender, char> >)'
...
解决方法：
修改CMakeLists.txt:
find_package(fmt REQUIRED)
set(FMT_LIBRARIES fmt::fmt)
...
target_link_libraries(xxx ${xxx} ${FMT_LIBRARIES})
————————————————
04
编译问题：pcl相关
...
error: 'plus' is not a member of 'pcl::traits'
...
解决方法：
修改CMakeLists.txt:
set(CMAKE_CXX_STANDARD 14)
————————————————
参考链接
————————————————
05
编译问题：pcl相关
surfel_mapping.cpp:31:9: error:
'class pcl::MovingLeastSquares<pcl::PointXYZRGB, pcl::PointXYZRGBNormal>'
has no member named 'setPolynomialFit';
did you mean 'setPolynomialOrder'?
解决方法：
注释报错行
————————————————
参考链接
06
问题：
segmentation fault (core dumped) ./build/dense_mono/dense_mapping test_data
解决方法：
1 （无效）
在程序中，加上头文件<Eigen/StdVector>，并将所有
vector<Eigen::??> 都改为：
vector<Eigen::??,Eigen::aligned_allocator<Eigen::??>>(不是真的问号，根据变量类型而定)
具体的：
首先加上头文件
并在定义 vector 时做如下修改:
比如修改前:
vector<Eigen::Isometry3d>
修改后:
vector<Eigen::Isometry3d,Eigen::aligned_allocator<Eigen::Isometry3d>>
参考链接
————————————————
2 （无效）
~/STUDY/slambook2/ch12/dense_mono > ulimit -a
-t: cpu time (seconds) unlimited
-f: file size (blocks) unlimited
-d: data seg size (kbytes) unlimited
-s: stack size (kbytes) 8192
-c: core file size (blocks) 0
-m: resident set size (kbytes) unlimited
-u: processes 31081
-n: file descriptors 1024
-l: locked-in-memory size (kbytes) 65536
-v: address space (kbytes) unlimited
-x: file locks unlimited
-i: pending signals 31081
-q: bytes in POSIX msg queues 819200
-e: max nice 0
-r: max rt priority 0
-N 15: unlimited
~/STUDY/slambook2/ch12/dense_mono > ulimit -s 102400
参考链接
————————————————
3（OK！）
bool update 函数缺少return 语句。
（其实在make过程中有warnning，我没注意…这就是教训了。）
[ 12%] Building CXX object dense_mono/CMakeFiles/dense_mapping.dir/dense_mapping.cpp.o
/home/wj/STUDY/slambook2/ch12/dense_mono/dense_mapping.cpp: In function 'bool update(const cv::Mat&, const cv::Mat&, const SE3d&, cv::Mat&, cv::Mat&)':
/home/wj/STUDY/slambook2/ch12/dense_mono/dense_mapping.cpp:290:1: warning: no return statement in function returning non-void [-Wreturn-type]
290 | }
| ^
[ 25%] Linking CXX executable dense_mapping
[ 25%] Built target dense_mapping
[ 50%] Built target surfel_mapping
[ 75%] Built target octomap_mapping
[100%] Built target pointcloud_mapping
在bool update函数体最后（290行附近）添加 return true;
bool update(const Mat &ref, const Mat &curr, const SE3d &T_C_R, Mat &depth, Mat &depth_cov2) {
for (int x = boarder; x < width - boarder; x++)
for (int y = boarder; y < height - boarder; y++) {
if (depth_cov2.ptr<double>(y)[x] < min_cov || depth_cov2.ptr<double>(y)[x] > max_cov)
continue;
Vector2d pt_curr;
Vector2d epipolar_direction;
bool ret = epipolarSearch(
ref,
curr,
T_C_R,
Vector2d(x, y),
depth.ptr<double>(y)[x],
sqrt(depth_cov2.ptr<double>(y)[x]),
pt_curr,
epipolar_direction
);
if (ret == false)
continue;
updateDepthFilter(Vector2d(x, y), pt_curr, T_C_R, epipolar_direction, depth, depth_cov2);
}
return true;
}
再次运行，终于成功了！
ch13
01
问题：修改opencv 版本及代码，添加fmt库，make 链接过程报错！
/usr/bin/ld: /usr/local/lib/libfmt.a(format.cc.o): relocation R_X86_64_PC32 against symbol `stderr@@GLIBC_2.2.5' can not be used when making a shared object; recompile with -fPIC
/usr/bin/ld: final link failed: bad value
collect2: error: ld returned 1 exit status
make[2]: *** [src/CMakeFiles/myslam.dir/build.make:309: ../lib/libmyslam.so] Error 1
make[1]: *** [CMakeFiles/Makefile2:136: src/CMakeFiles/myslam.dir/all] Error 2
make: *** [Makefile:95: all] Error 2
解决方法：
报错原因是CMakeLists.txt中其他三方库是用的共享库，而fmt是静态库（libfmt.a），需要对重新对fmt进行动态编译，得到（libfmt.so）再进行安装。
/STUDY/slambook2/3rdparty/fmt/build > cmake -DBUILD_SHARED_LIBS=TRUE ..
再在ch13/build下重新make:
~/STUDY/slambook2/ch13/build > make
[ 6%] Linking CXX shared library ../../lib/libmyslam.so
[ 75%] Built target myslam
Scanning dependencies of target test_triangulation
[ 81%] Building CXX object test/CMakeFiles/test_triangulation.dir/test_triangulation.cpp.o
[ 87%] Linking CXX executable ../../bin/test_triangulation
[ 87%] Built target test_triangulation
Scanning dependencies of target run_kitti_stereo
[ 93%] Building CXX object app/CMakeFiles/run_kitti_stereo.dir/run_kitti_stereo.cpp.o
[100%] Linking CXX executable ../../bin/run_kitti_stereo
[100%] Built target run_kitti_stereo
————————————————
参考链接
Original: https://blog.csdn.net/m0_50910915/article/details/122150847
Author: WoooChi
Title: 《SLAM十四讲》slambook2 遇到的坑（持续更新ing）
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