I recently watched Slam Lecture 14, and it took me a long time to configure the code environment. Now there are many problems such as inconsistent library versions during operation. I will record them here. Will be updated:
Table of contents
1. Current configuration version
2. General solutions to some error reports
2.1 Pangolin：'xxxx' has not been declared
2.2 opencv: 'cv::xxxx' undefined reference
3. The general process of running the code
1. Current configuration version
1.own3.4.0
2.Pangolin
3.fmt8.1.1
4.ceres
5.g2o
6. Dormitory
7.DBoW3
8.camke3.22.1
The ones currently downloaded are the latest version, so there are many problems in the code, and some compatibility issues have not yet been resolved. The relevant parts that are prone to problems are installed in:
Ubuntu upgrade eigen to 3.4.0_Qianmengyu 11's blog-CSDN blog_eigen upgrade
Ubuntu upgrade cmake version_Qianmengyu 11's blog-CSDN blog_ubuntu upgrade cmake
Installing Sophus on ubuntu_Qianmengyu 11's blog-CSDN blog_sophus ubuntu
Installing the Pangolin library on ubuntu16.04_Qianmengyu 11's blog-CSDN blog
Ubuntu16.04 Verifies Pangolin Installation Successful_Qianmengyu 11’s Blog-CSDN Blog
Installing the ceres-solver library on ubuntu_Qianmengyu 11's blog-CSDN blog
Ubuntu16.04 C++ installation opencv tutorial_Qianmengyu 11's blog-CSDN blog
2. General solutions to some error reports
2.1 Pangolin：'xxxx' has not been declared
Error reported:
error: ‘std::function’ has not been declared
inline std::istream& operator>>(std::istream& /*is*/, std::function<Ret(Arg)>&
^
/usr/local/include/pangolin/utils/type_convert.h:58:68: error: expected ‘,’ or ‘...’ before ‘<’ token
inline std::istream& operator>>(std::istream& /*is*/, std::function<Ret(Arg)>&
^
/usr/local/include/pangolin/utils/type_convert.h:62:66: error: ‘function’ in namespace ‘std’ does not name a template type
inline std::ostream& operator<<(std::ostream& /*os*/, const std::function<Ret(A
^
/usr/local/include/pangolin/utils/type_convert.h:62:74: error: expected ‘,’ or ‘...’ before ‘<’ token
e std::ostream& operator<<(std::ostream& /*os*/, const std::function<Ret(Arg)>&
^
/usr/local/include/pangolin/utils/type_convert.h:65:60: error: ‘std::function’ has not been declared
Solution: Add C++ standard judgment to CmakeLists.txt (many adding 1 line are not suitable):
# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_definitions(-DCOMPILEDWITHC11)
message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
add_definitions(-DCOMPILEDWITHC0X)
message(STATUS "Using flag -std=c++0x.")
else()
message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
2.2 opencv: 'cv::xxxx' undefined reference
Error reported:
CMakeFiles/joinMap.dir/joinMap.o: In function 'main':
joinMap.cpp:(.text+0x169): Undefined reference to 'cv::imread(cv::String const&, int)'
joinMap. cpp:(.text+0x240): undefined reference to 'cv::imread(cv::String const&, int)'
CMakeFiles/joinMap.dir/joinMap.o: in function 'cv::String::~String' ()' in:
joinMap.cpp: (.text._ZN2cv6StringD2Ev[_ZN2cv6StringD5Ev]+0x14): undefined reference to 'cv::String::deallocate()'
CMakeFiles/joinMap.dir/joinMap.o: in function ' In cv::String::operator=(cv::String const&)':
joinMap.cpp:(.text._ZN2cv6StringaSERKS0_[_ZN2cv6StringaSERKS0_]+0x28): undefined reference to 'cv::String::deallocate()'
CMakeFiles/joinMap.dir/joinMap.o: In function 'cv::Mat::Mat(cv::Mat const&)': joinMap.cpp
:(.text._ZN2cv3MatC2ERKS0_[_ZN2cv3MatC5ERKS0_]+0x182): For 'cv: :Mat::copySize(cv::Mat const&)' undefined reference
CMakeFiles/joinMap.dir/joinMap.o: In function 'cv::Mat::~Mat()':
joinMap.cpp:(.text._ZN2cv3MatD2Ev[_ZN2cv3MatD5Ev]+0x39): For 'cv::fastFree(void *)' undefined reference
CMakeFiles/joinMap.dir/joinMap.o: in function 'cv::Mat::release()':
joinMap.cpp:(.text._ZN2cv3Mat7releaseEv[_ZN2cv3Mat7releaseEv]+0x4b): right cv::Mat::deallocate()' undefined reference
CMakeFiles/joinMap.dir/joinMap.o: in function 'cv::String::String(std::__cxx11::basic_string<char, std::char_traits< char>, std::allocator<char> > const&)':
joinMap.cpp:(.text._ZN2cv6StringC2ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE[_ZN2cv6StringC5ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE ]+0x5d): undefined reference to 'cv::String::allocate(unsigned long)'
Solution: Select the version and add specified opencv3 in CmakeLists.txt
Note: This must be added in front of the target_link_libraries(xxxx ${OpenCV_LIBS} ${Pangolin_LIBRARIES}) command! ! ! Otherwise, an error will still be reported
# opencv3
find_package(OpenCV 3.0.0 REQUIRED)3. The general process of running the code
To be neater, enter a folder (with cpp and CmakeLists.txt), first create the build folder, cmake, etc. inside:
mkdir build
cd build
cmake ..
makeA file without a suffix will be generated afterwards: If you do not need to pass in pictures, etc., directly ./execute the file:
./文件名If you need to pass in pictures, etc., you need to return to the previous folder (otherwise the pictures cannot be found in the build folder).
cd ..
./build/文件名 可能需要的图片名4. Partial operation
The problem with Sophus has not been solved yet, and the code may need to be changed. Anyone with ideas is welcome to discuss it.
The incompatibility of g2o is not resolved
ch2 code run
none.
ch3 code run
None yet
ch4 code running
None yet
ch5 code running
4.5.1 imageBasics running
This is relatively smooth, just press 3 in front to go.
mkdir build
cd build
cmake ..
makeThen come out, because you need to pass in the image file:
cd ..
./build/imageBasics ubuntu.pngTo de-distort the code, you need to remove the comments in CmakeLists.txt, and then continue with the previous cmake and make set:
CmakeLists.txt
cmake_minimum_required(VERSION 2.8)
# 解决加上C++版本之后，未定义引用问题
find_package(OpenCV REQUIRED)
message(STATUS "OpenCV library status:")
message(STATUS " version: ${OpenCV_VERSION}")
message(STATUS " libraries: ${OpenCV_LIBS}")
message(STATUS " include path: ${OpenCV_INCLUDE_DIRS}")
if(CMAKE_VERSION VERSION_LESS "2.8.11")
# Add OpenCV headers location to your include paths
include_directories(${OpenCV_INCLUDE_DIRS})
endif()
#SET(CMAKE_CXX_FLAGS "-std=c++0x")
SET( CMAKE_CXX_FLAGS "-std=c++11 -O3")
add_executable(imageBasics imageBasics.cpp)
# 链接OpenCV库
target_link_libraries(imageBasics ${OpenCV_LIBS})
add_executable(undistortImage undistortImage.cpp)
# 链接OpenCV库
target_link_libraries(undistortImage ${OpenCV_LIBS})Then come out and import the picture:
cd ..
./build/undistortImage distorted.png4.5.2 rgbd operation
You need to consider the incompatibility of Pangolin and the problems of both opencv3 and 4: Add two blocks to CmakeLists.txt in three steps:
find_package(Sophus REQUIRED)
include_directories(${Sophus_INCLUDE_DIRS})
find_package(Pangolin REQUIRED)
# opencv3
find_package(OpenCV 3.0.0 REQUIRED)
add_executable(joinMap joinMap.cpp)
target_link_libraries(joinMap ${OpenCV_LIBS} ${Pangolin_LIBRARIES})
# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_definitions(-DCOMPILEDWITHC11)
message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
add_definitions(-DCOMPILEDWITHC0X)
message(STATUS "Using flag -std=c++0x.")
else()
message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
After that, use a set of cmake, run it after building (because you need to call the folder)
mkdir build
cd build
cmake ..
make
cd ..
./build/joinMap
4.5.3 stereo operation
As before, consider the incompatibility of Pangolin and the problems of opencv3 and 4: Add two blocks to CmakeLists.txt in three steps: note that opencv must be in front of target_link_libraries(stereoVision ${OpenCV_LIBS} ${Pangolin_LIBRARIES}):
CmakeLists.txt
find_package(Pangolin REQUIRED)
# opencv3
find_package(OpenCV 3.4.11 REQUIRED)
add_executable(stereoVision stereoVision.cpp)
target_link_libraries(stereoVision ${OpenCV_LIBS} ${Pangolin_LIBRARIES})
# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_definitions(-DCOMPILEDWITHC11)
message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
add_definitions(-DCOMPILEDWITHC0X)
message(STATUS "Using flag -std=c++0x.")
else()
message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
Then continue with the terminal command line:
mkdir build
cd build
cmake ..
make
cd ..
./build/stereoVision
ch6 code running
There are not many problems with this. You don’t need to change CmakeLists.txt and just cmake a set:
mkdir build
cd build
cmake ..
make
cd ..
./build/ceresCurveFitting
./build/gaussNewtonBut the g2o has not been adjusted yet.
ch7 code running
Currently, pose_estimation_3d2d.cpp and pose_estimation_3d3d.cpp of g2o and Sophus are not running. No need to change CmakeLists.txt:
mkdir build
cd build
cmake ..
make
cd ..
./build/orb_cv 1.png 2.png
./build/orb_self
./build/pose_estimation_2d2d 1.png 2.png
./build/triangulation 1.png 2.pngJust enter the next four runs separately.