SLAM开发环境

准备

• 操作系统ubuntu18.04

• 《视觉 SLAM 十四讲》第二版源码在高翔GitHub上下载GitHub

• #安装必要库，将安装一堆新包，包括gcc，g ++和make
  sudo apt install build-essential

• 打开 /etc/ld.so.conf 添加一行内容：/usr/local/lib，保存退出再运行 udo ldconfig，避免错误 ***: cannot open shared object file（没有配置共享库所在文件夹的路径）

• 使用的是opencv-4.3.0 安装教程

CMAKE

cmake 用来管理c++项目源代码
	cmake ..  		根据CMakeLists.txt文件，去生成makefile
	make -j4  		根据makefile文件内容编译工程，即生成可执行文件
	make install 	将可执行文件、第三方依赖包和文档复制到正确的路径

安装cmake

#到cmake官网下载最新的cmake
https://cmake.org/download/

#下载后解压,然后进入目录执行:
cd cmake-3.**
./bootstrap
make -j8
sudo make install
#验证版本
cmake --version

#使用以下指令解决缺库问题（Could not find OpenSSL）：
sudo apt-get install libssl-dev

slam开发环境

在ubuntu上安装slam发环境建议先安装opencv，opencv的依赖与下面要安装的依赖有重复。

安装Eigen

#终端输入
sudo apt-get install libeigen3-dev

安装sophus

#无需要安装直接将sophus复制到/usr/include中(qt中直接引库,调用.hpp)
sudo cp -r /slambook2/3rdparty/Sophus/sophus /usr/include 

安装Pangolin（在slambook2/3rdpart/Pangolin）

#安装依赖库
	sudo apt-get install libglew-dev # OpenGL库
	sudo apt-get install pkg-config
	sudo apt-get install doxygen

#进入Pangolin源码目录，创建build 目录,cd build 运行
sudo mkdir build && cd build
#生成Makefile
sudo cmake ..
#编译
sudo make -j8
#安装
sudo make install

#错误信息
	CMake Error at external/pybind11/tools/FindPythonLibsNew.cmake:95 (message):
	  Python config failure:
	  Traceback (most recent call last):
	    File "<string>", line 1, in <module>
	  ImportError: cannot import name 'sysconfig'

#解决
	sudo apt-get install python3-pip

安装ceres

#安装日志和测试工具（glog、gtest）
sudo apt install liblapack-dev libsuitesparse-dev libcxsparse3 libgflags-dev libgoogle-glog-dev libgtest-dev 
#进入ceres-solver源码目录，创建build 目录,cd build 运行
sudo mkdir build && cd build
#生成Makefile
sudo cmake ..
#编译
sudo make -j8
#安装
sudo make install

安装g2o

#安装依赖项
sudo apt install qt5-qmake qt5-default libqglviewer-dev-qt5 libsuitesparse-dev libcxsparse3 libcholmod3 
#进入g2o源码目录，创建build 目录,cd build 运行
sudo mkdir build && cd build
#生成Makefile
sudo cmake ..
#编译
sudo make -j8
#安装
sudo make install

安装DBoW3（先装opencv）ch11

#进入DBoW3源码目录，创建build 目录,cd build 运行
sudo mkdir build && cd build
#生成Makefile
sudo cmake ..
#编译
sudo make -j8
#安装
sudo make install

安装点云库PCL（依赖boost、vtk库）

#qt使用依赖库 /usr/include/vtk-6.3；/usr/include/boost
sudo apt install libpcl-dev pcl-tools
报错:
	The following packages have unmet dependencies:libpcl-dev : Depends: libvtk6-dev but it is not going to be installed Depends: libvtk6-qt-dev but it is not going to be installed E: Unable to correct problems, you have held broken packages.
解决
	#使用aptitude 安装
	sudo aptitude install libpcl-dev #先选择n，在选择y

安装八叉树地图octomap和对应的可视化工具octovis

sudo apt install liboctomap-dev octovis 

cmake编译运行slam部分章节代码的错误与解决

slam项目ch5 opecv cmake 编译注意（只在ch5/imageBasics下 build cmake）

#修改/slam2/slambook2/ch5/imageBasics/CMakeLists.txt 配置文件，添加opencv库路径
	project(imageBasics)
	set(OpenCV_DIR "/usr/lib/opencv")
	find_package(OpenCV REQUIRED COMPONENTS core imgproc highgui)

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

	add_executable(undistortImage undistortImage.cpp)
	# 链接OpenCV库
	target_link_libraries(undistortImage ${OpenCV_LIBS})

slam项目ch6 g2o make 编译注意

错误：./g2oCurveFitting: error while loading shared libraries: libg2o_core.so: cannot open shared object file: No such file or directory
解决：打开 sudo gedit /etc/ld.so.conf
	添加内容：/usr/local/lib
	启动配置：sudo ldconfig

slam项目ch11 DBoW3 make 编译注意

 错误：make[2]: *** 没有规则可制作目标“/usr/local/lib/libDBoW3.a”，由“gen_vocab” 需求。 停止。
1解决：打开ch11下面的 sudo gedit CMakeFiles.txt 修改libDBoW3.a为libDBoW3.so


 运行错误：terminate called after throwing an instance of 'std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >' 已放弃 (核心已转储)
2解决：管理员运行：sudo ./feature_training 

slam项目ch12 pcl/octomap 编译注意（只在ch12/dense_RGBD下 build cmake）

在终端使用octovis命令打开.bt文件：octovis octomap.bt
在使用pcl_viewer命令打开.pcd文件：pcl_viewer map.pcd 

使用QT开发slam的pro配置

INCLUDEPATH +=  /usr/include/eigen3 \
                /usr/include/opencv4 \
                /usr/include/sophus \
                /usr/include/glog \
                /usr/include/suitesparse \
                /usr/local/include/ceres \
                /usr/local/include/g2o \
                /usr/local/include/DBoW3 \
                /usr/include/vtk-6.3 \
                /usr/local/include/boost \
                /usr/include/pcl-1.8 \
                /usr/include/octomap \

LIBS +=  /usr/lib/opencv/libopencv_*.so \
         /usr/local/lib/libceres.a \
         /usr/local/lib/libg2o_*.so \
         /usr/local/lib/libDBoW3.so \
         /usr/lib/x86_64-linux-gnu/libcholmod.so \
         /usr/lib/x86_64-linux-gnu/liblapack.so \
         /usr/lib/x86_64-linux-gnu/libblas.so \
         /usr/lib/x86_64-linux-gnu/libcxsparse.so \
         /usr/lib/x86_64-linux-gnu/libglog.so \
         /usr/lib/x86_64-linux-gnu/libvtk*.so \
         /usr/lib/x86_64-linux-gnu/libboost_*.so \
         /usr/lib/x86_64-linux-gnu/libpcl_*.so \
         /usr/lib/liboctomath.so \
         /usr/lib/liboctomap.so \

QT编译运行slam部分章节代码的错误与解决

1错误：
error: (-215:Assertion failed) size.width>0 && size.height>0 in function ‘cv::imshow’
1解决：
opencv图片路径错误，或 图片的名称和路径改成英文或数字

2错误：
undefined reference to google::LogMessage::stream()' undefined reference togoogle::FlagRegisterer::FlagRegisterer(char const*, char const*, char const*, bool*, bool*)’
2解决：
在qt的pro中添加共享库
INCLUDEPATH += /usr/include/glog
LIBS += /usr/lib/x86_64-linux-gnu/libglog.so

3错误：
error: vtkSmartPointer.h: No such file or directory
#include <vtkSmartPointer.h>
^~~~~~~~~~~~~~~~~~~
3解决：
在qt的pro中添加共享库
INCLUDEPATH += /usr/include/vtk-6.3
LIBS += /usr/lib/x86_64-linux-gnu/libvtk*.so

4错误：
/usr/lib/liboctomath.so.1.8👎 error: error adding symbols: DSO missing from command line
4解决：
在qt的pro中添加共享库
INCLUDEPATH += /usr/include/octomap
LIBS += /usr/lib/liboctomath.so

5错误：
reorder_program.cc:(.text+0x396): undefined reference to `cholmod_free_sparse’
5解决：
在qt的pro中添加共享库
INCLUDEPATH += /usr/include/suitesparse
LIBS += /usr/lib/x86_64-linux-gnu/libcholmod.so

6错误：
/usr/lib/x86_64-linux-gnu/liblapack.so.3: error adding symbols: DSO missing from command line
6解决：
在qt的pro中添加共享库
INCLUDEPATH += /usr/include/suitesparse
LIBS += /usr/lib/x86_64-linux-gnu/liblapack.so

7错误：
/usr/local/lib/libceres.a(cxsparse.cc.o): In function ceres::internal::CXSparse::Solve(cs_di_symbolic*, cs_di_numeric*, double*)': cxsparse.cc:(.text+0x92): undefined reference tocs_di_ipvec’
7解决：
在qt的pro中添加共享库
INCLUDEPATH += /usr/include/suitesparse
LIBS += /usr/lib/x86_64-linux-gnu/libcxsparse.so