高博士《一起做RGB-SLAM》在2021年的复现笔记（opencv3.4.1）

本文链接：https://blog.csdn.net/blithe_/article/details/116033435

代码：https://github.com/gaoxiang12/rgbd-slam-tutorial-gx
教程：https://www.cnblogs.com/gaoxiang12/p/4633316.html

一起做RGB-SLAM（1）（2）

无问题

一起做RGB-SLAM（3）特征提取与配准

增加可执行二进制及其依赖
在CmakeLists文件里面添加：

ADD_EXECUTABLE( detectFeatures detectFeatures.cpp )
TARGET_LINK_LIBRARIES( detectFeatures 
slambase 
${OpenCV_LIBS} 
    ${PCL_LIBRARIES} )

特征提取

detectFeatures.cpp:37:16: error: ‘create’ is not a member of ‘cv::FeatureDetector {aka cv::Feature2D}’
     detector = cv::FeatureDetector::create("ORB");

出现这个问题的主要原因是opencv版本不同，针对3.0以后的版本，特征提取器的声明方式有变化：
将
detector = cv::FeatureDetector::create("ORB"); descriptor = cv::DescriptorExtractor::create("ORB");
改为
detector = cv::ORB::create(); descriptor = cv::ORB::create();

solvePnPRansac函数修改（感谢）

OpenCV Error: Assertion failed (confidence > 0 && confidence < 1) in run, file /home/limz/Cmake_module/opencv-3.4.1/modules/calib3d/src/ptsetreg.cpp, line 178
terminate called after throwing an instance of 'cv::Exception'
  what():  /home/limz/Cmake_module/opencv-3.4.1/modules/calib3d/src/ptsetreg.cpp:178: error: (-215) confidence > 0 && confidence < 1 in function run

cv::solvePnPRansac( pts_obj, pts_img, cameraMatrix, cv::Mat(), rvec, tvec, false, 100, 1.0, 100, inliers );
在opencv3.4.1下需要改为：
cv::solvePnPRansac( pts_obj, pts_img, cameraMatrix, cv::Mat(), rvec, tvec, false, 100, 1.0, 0.99, inliers );
才能正常运行。
原因：opencvcv3.4.1中cv::solvePnPRansac限定参数confidence大小在（0,1）.
solvePnPansac参数

一起做RGB-SLAM（4）点云拼接

slamBase.cpp
这里和第三讲的第二个问题解决一样，将 cv::FeatureDetector和cv::DescriptorExtractor改成cv::ORB
和第三讲第三个问题一样，修改cv::solvePnPRansac函数
error: invalid conversion from ‘const char*’ to ‘int’ [-fpermissive]
感谢该博客
在CMakeLists.txt中添加：
SET(CMAKE_CXX_FLAGS " -fpermissive ${SSE_FLAGS_STR}")
这一讲高博士的github代码中CMakeLists.txt进行了修改，做的时候容易忽视
#增加PCL库的依赖 FIND_PACKAGE( PCL REQUIRED COMPONENTS common io )
改为
#增加PCL库的依赖 FIND_PACKAGE( PCL REQUIRED COMPONENTS common io visualization)