EVO开源方案环境搭建(18.04)

EVO: Event based Visual Odometry

建议先看官方的Getting started查询:rpg_dvs_evo_open

Installation

1. Install ROS dependencies:
   参考：https://blog.csdn.net/qq_41450811/article/details/99079041
   可以在评论里找解决方案
   装完ros还需安装以下库：

sudo apt-get install python-catkin-tools

2. Create and initialize a new catkin workspace if needed

 mkdir -p ~/catkin_ws/src && cd ~/catkin_ws/
 catkin config \
     --init --mkdirs --extend /opt/ros/melodic \
     --merge-devel --cmake-args \
     -DCMAKE_BUILD_TYPE=Release

3. Clone this repository

 cd src/ && git clone git@github.com:uzh-rpg/rpg_dvs_evo_open.git

4.Clone (and fix) dependencies

sh ./rpg_dvs_evo_open/install.sh melodic

这一步有些库下载不下来：

• libcaer-dev可以在这个链接下添加仓库下载 https://github.com/uzh-rpg/rpg_dvs_ros

sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo add-apt-repository ppa:inivation-ppa/inivation-bionic

• vcs not found : sudo apt-get install python3-vcstool

这一步可能出现的报错

• git@github.com: Permission denied (publickey).
  https://blog.csdn.net/qq_43768946/article/details/90411154

5.Build the packages

 catkin build dvs_tracking

这一步可能出现的报错

• opencv版本问题导致：invalid initialization of reference of type ‘const Scalar& {aka const cv::Matx<float,1,1>&}’ from expression of type ‘const float’
  opencv版本4.2导致的，换成3.2解决
• yaml版本问题导致：undefined reference to `vtable for YAML::BadConversion’
  yaml版本0.6及以上导致，下载0.5.2版本的yaml https://github.com/jbeder/yaml-cpp/releases

6. 配置环境

source ../devel/setup.bash

7. 下载数据集

wget http://rpg.ifi.uzh.ch/data/EVO/code_examples/evo_flyingroom.bag -O /tmp/evo_flyingroom.bag

8. Start the pipeline

roslaunch dvs_tracking flyingroom.launch auto_trigger:=true

9. Run the rosbag

rosbag play -r 0.7 /tmp/evo_flyingroom.bag

经验教训：运行时报错时，去定位报错信息，及时查看对比github中issue,当错误发生是依赖库时，多半是版本问题。

参考资料：

• https://blog.csdn.net/gwplovekimi/article/details/120383373?spm=1001.2014.3001.5501
• https://blog.csdn.net/qq_43310597/article/details/120629146?spm=1001.2014.3001.5501