FAST-LIVO运行及报错记录

一、基础环境

Ubuntu:20.04

Ros:noetic

二、其他安装

参考：https://gitcode.com/gh_mirrors/fa/FAST-LIVO/overview?utm_source=csdn_github_accelerator&isLogin=1

PCL>=1.6

Eigen>=3.3.4

OpenCV>=3.2

Sophus:

git clone https://github.com/strasdat/Sophus.git
cd Sophus
git checkout a621ff
mkdir build && cd build && cmake ..
make
sudo make install

Sophus安装可能会报错，解决方法见：https://blog.csdn.net/gwplovekimi/article/details/127844810?spm=1001.2101.3001.6650.1&utm_medium=distribute.pc_relevant.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7ECtr-1-127844810-blog-129118639.235%5Ev43%5Epc_blog_bottom_relevance_base7&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7ECtr-1-127844810-blog-129118639.235%5Ev43%5Epc_blog_bottom_relevance_base7&utm_relevant_index=2

livox_ros_driver、Vikit、源码：

git clone https://github.com/uzh-rpg/rpg_vikit.git fast_liv/src
git clone https://github.com/hku-mars/FAST-LIVO fast_liv/src
git clone https://github.com/Livox-SDK/livox_ros_driver.git fastlio2/src
cd fastlio2
catkin_make
source ~/catkin_ws/devel/setup.bash

操作好后目录如图：

三、编译

接下来在fast_liv下编译：

catkin_make -j1

可能报错及解决方法放在后面。

编译成功后即可启动

roslaunch fast_livo mapping_avia.launch
rosbag play YOUR_DOWNLOADED.bag

官方包链接：https://connecthkuhk-my.sharepoint.com/personal/zhengcr_connect_hku_hk/_layouts/15/onedrive.aspx?id=%2Fpersonal%2Fzhengcr%5Fconnect%5Fhku%5Fhk%2FDocuments%2FFAST%2DLIVO%2DDatasets&ga=1

四、报错及解决方法

报错一

解决方法：等待链接下载成功即可（不成功后面会报错找不到文件）

报错二

解决方法同一

报错三

fatal error: fast_livo/States.h: 没有那个文件或目录

解决方法：注释掉

报错四

在第三个错误解决后会报错

解决方法：在整个目录搜这个文件，能搜到直接复制到对应文件夹下

报错五

error: invalid conversion from ‘const char*’ to ‘int’ [-fpermissive]

             omp_set_num_threads(MP_PROC_NUM);

解决方法：将MP_PROC_NUM换成数字2

报错六

报错：/home/zys/catkin_ws/src/rpg_vikit/vikit_common/src/pinhole_camera.cpp: In member function ‘void vk::PinholeCamera::undistortImage(const cv::Mat&, cv::Mat&)’:
/home/zys/catkin_ws/src/rpg_vikit/vikit_common/src/pinhole_camera.cpp:112:59: error: ‘CV_INTER_LINEAR’ was not declared in this scope
  112 |     cv::remap(raw, rectified, undist_map1_, undist_map2_, CV_INTER_LINEAR);

CV_换成cv::

五、参考链接

https://blog.csdn.net/HUASHUDEYANJING/article/details/135299818

https://blog.csdn.net/zhiguorui123/article/details/136243475

https://blog.csdn.net/gwplovekimi/article/details/127844810?spm=1001.2101.3001.6650.1&utm_medium=distribute.pc_relevant.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7ECtr-1-127844810-blog-129118639.235%5Ev43%5Epc_blog_bottom_relevance_base7&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7ECtr-1-127844810-blog-129118639.235%5Ev43%5Epc_blog_bottom_relevance_base7&utm_relevant_index=2

https://github.com/Livox-SDK/livox_ros_driver/blob/master/README_CN.md