ch5里面,报错最多的就是点云。
在这里分享一下:如果出现sophus/so3找不到的情况,就到你所安装的目录里:
在sophus里运行终端:mkdir build && cd build && cmake ..&&make && sudo make install
最后一步非常重要!直接就可以解决sophus/so3找不到的情况
如果出现eigen库连接不上的情况,就include_directories( "/usr/include/eigen3" )
上述一步是根据eigen安装的位置与版本来链接的。
下图是我CMakeLists的内容:
include_directories("/usr/include/eigen3")
target_link_libraries(stereoVision ${OpenCV_LIBS})
cmake_minimum_required(VERSION 3.10)
find_package(Sophus REQUIRED)
add_executable(joinMap joinMap.cpp)
include_directories(${Sophus_INCLUDE_DIRS})
#链接OpenCV库
find_package(OpenCV REQUIRED)
#添加头文件
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})
# Eigen
include_directories("/usr/local/include/eigen3")
target_link_libraries(joinMap ${Sophus_LIBRARIES} fmt)
#链接c++11
set(CMAKE_CXX_FLAGS "-std=c++11")
然后就可以进行编译的过程了!