报错2
make[2]: *** No rule to make target ‘…/…/stvo-pl/lib/libstvo.so’, needed by ‘…/lib/libplslam.so’。
解决2:根据实际情况修改CMakeLists.txt中涉及stvo-pl的路径
报错3
/usr/bin/ld: 找不到 -lg2o_ext_csparse
解决3:cd /usr/local/lib/
sudo ln -sv libg2o_csparse_extension.so libg2o_ext_csparse.so
编译成功!
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运行KITTI以及Euroc并出数据
./plslam_dataset /home/green/KITTI/kitti/01 -c /home/green/Project/pl-slam-master/config/config/config_kitti.yaml -o 100 -s 2 -n 1000
报错1
MRPT compiled without wxWidgets!
‘
解决1:安装依赖项libwxgtk2.8-dev
报错2
Initializing PL-SLAM…Fatal Error: Mismatch between the program and library build versions detected.
Fatal Error: Mismatch between the program and library build versions detected.
The library used 2.8 (no debug,Unicode,compiler with C++ ABI 1002,wx containers,compatible with 2.6),
and your program used 2.8 (no debug,Unicode,compiler with C++ ABI 1009,wx containers,compatible with 2.6).
解决2:该问题是由于问题1所安装的wxWidgets版本不对导致的,重新安装Libwxgtk3.0-dev,并重新编译安装MRPT,需要重新安装MRPT并且验证其安装成功!重新运行跑KITTI00序列成功
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保存结果:
按照KITTI格式保存车辆运行轨迹用于进行评估(找出评价工具——在本子上)
VINS_Fusion结果保存在/home/green/output/stereo/vio.txt当中。
evo工具对位置结果进行评价:
进入基础环境(在base环境下运行)
evo_ape kitti /home/green/Project/evo-master/traj/PL-SLAM/00_gt.txt /home/green/Project/evo-master/traj/PL-SLAM/plslam_odom_00.txt -p -a -s
kitti odom 01序列ape绝对位姿误差如下,过于离谱了。
相对位姿误差如下
保存中间结果:线特征提取图