一起做RGB-D SLAM 学习笔记(2)

这次的学习笔记为完成从图到点云转换过程，记录自己遇到的问题。高博原帖https://www.cnblogs.com/gaoxiang12/p/4652478.html

还算比较顺利，遇到的问题如下：

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1.make时报错: make[2]: *** No rule to make target ‘/usr/lib/x86_64-linux-gnu/libproj.so’, needed by…
解决办法：

sudo ln -s  /usr/lib/x86_64-linux-gnu/libproj.so.9 /usr/lib/x86_64-linux-gnu/libproj.so 

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2./usr/bin/ld: cannot find -lvtkproj4
collect2: error: ld returned 1 exit status
src/CMakeFiles/generate_pointcloud.dir/build.make:350: recipe for target ‘…/bin/generate_pointcloud’ failed
make[2]: *** […/bin/generate_pointcloud] Error 1
CMakeFiles/Makefile2:87: recipe for target ‘src/CMakeFiles/generate_pointcloud.dir/all’ failed
make[1]: *** [src/CMakeFiles/generate_pointcloud.dir/all] Error 2
Makefile:83: recipe for target ‘all’ failed
make: *** [all] Error 2
解决办法：
在CMakeLists中添加一行list (REMOVE_ITEM PCL_LIBRARIES “vtkproj4”)

修改过后：

# 增加PCL库的依赖
FIND_PACKAGE( PCL REQUIRED COMPONENTS common io )
list (REMOVE_ITEM PCL_LIBRARIES "vtkproj4")

# 增加opencv的依赖
FIND_PACKAGE( OpenCV REQUIRED )
# 添加头文件和库文件
ADD_DEFINITIONS( ${PCL_DEFINITIONS} )
INCLUDE_DIRECTORIES( ${PCL_INCLUDE_DIRS}  )
LINK_LIBRARIES( ${PCL_LIBRARY_DIRS} )

ADD_EXECUTABLE( main main.cpp )
ADD_EXECUTABLE( generate_pointcloud generatePointCloud.cpp )
TARGET_LINK_LIBRARIES( generate_pointcloud ${OpenCV_LIBS} 
    ${PCL_LIBRARIES} )

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3.启动：/home/lhq/Projects/part1/slam/bin/generate_pointcloud
point cloud size = 0
terminate called after throwing an instance of ‘pcl::IOException’
what(): : [pcl::PCDWriter::writeASCII] Input point cloud has no data!
没有导入图片，检查图片是否已经放在data目录下，是否在工程目录下运行，如果你是在/bin目录下运行，要修改图片路径。
在工程目录下运行时：

    rgb = cv::imread( "./data/rgb.png" );
    depth = cv::imread( "./data/depth.png", -1 );

在/bin目录下运行时：

    rgb = cv::imread( "../data/rgb.png" );
    depth = cv::imread( "../data/depth.png", -1 );

因为我用Kdevelop来运行，是运行在bin目录下。
运行后：

生成的pointcloud.pcd文件保存bin目录下。用pcl查看：

如果图像有颠倒的话，在计算空间点坐标时相应轴加负号。