视觉slam14讲

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前言

高翔的《视觉slam14讲》ch5中的踩坑和解决方法
以及opencv在ubuntu22.04中的安装

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一、opencv的安装

参考博客：

https://blog.csdn.net/public669/article/details/99044895

我选择的版本为3.4.2
跟着上面的博客应该没有大问题

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二、imageBasics

1.imageBasics.cpp不做修改

2.CMakeLists.txt

cmake_minimum_required(VERSION 2.8)
project(imageBasics)

set(CMAKE_CXX_STANDARD 14)

#寻找opencv库
find_package (OpenCV REQUIRED)

#添加头文件
include_directories(${OpenCV_INCLUDE_DIRS})

add_executable(imageBasics imageBasics.cpp)

# 链接OpenCV库
target_link_libraries(imageBasics ${OpenCV_LIBS})

报错：
‘decay_t’ is not a member of ‘std’
解决方法：
把set(CMAKE_CXX_FLAGS “-std=c++11 -O2”)换成set(CMAKE_CXX_STANDARD 14)

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三.stereo

1. CMakeLists.txt

cmake_minimum_required( VERSION 2.8 )
project(stereoVision)
set(CMAKE_CXX_STANDARD 14)

include_directories("/usr/include/eigen3")
find_package(Pangolin REQUIRED)
include_directories( ${Pangolin_INCLUDE_DIRS} )

find_package(OpenCV)
include_directories(${OpenCV})

add_executable(stereoVision stereoVision.cpp)
target_link_libraries(stereoVision ${OpenCV_LIBS} ${Pangolin_LIBRARIES})

2.stereoVision.cpp

文件路径改成绝对路径

string left_file = "/home/ysl/slambook2/ch5/stereo/left.png";
string right_file = "/home/ysl/slambook2/ch5/stereo/right.png";

2.编译和运行

注意要在slambook2/ch5/stereo在个文件夹下

mkdir build && cd build
cmake ..
make

运行(要在build文件夹下运行)：

./stereoVision

运行结果：

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四、RGB-D视觉

参考博客成功运行：

https://blog.csdn.net/weixin_50578602/article/details/127343741

1、CMakeList.txt

修改CMakeList.txt如下：

find_package(Sophus REQUIRED)
include_directories(${Sophus_INCLUDE_DIRS})

find_package( OpenCV 3.4.2 REQUIRED )  //这一步根据自己的版本来写
find_package(Pangolin REQUIRED)

add_executable(joinMap joinMap.cpp)
target_link_libraries(joinMap ${OpenCV_LIBS} ${Pangolin_LIBRARIES} ${Sophus_INCLUDE_DIRS} fmt)

2、路径修改

修改joinMap.cpp文件，修改21行为：

ifstream fin("../pose.txt");

修改28行（若行号不对请自行寻找）为：

boost::format fmt("../%s/%d.%s");  

运行结果如下：