安装配置stvo-plSLAM

参考博客http://www.pianshen.com/article/7301181947/

按照顺序来即可。

在编译MRPT的时候，出现：

In file included from /home/wjk/myfile/PLSLAM/mrpt/libs/pbmap/include/mrpt/pbmap.h:20:0,
                 from /home/wjk/myfile/PLSLAM/mrpt/libs/pbmap/src/PbMap.cpp:16:
/home/wjk/myfile/PLSLAM/mrpt/libs/pbmap/include/mrpt/pbmap/PbMapMaker.h:115:12: error: ‘mutex’ in namespace ‘boost’ does not name a type
     boost::mutex mtx_pbmap_busy;
            ^

解决方法：在相应的hpp中加入

#include <boost/thread/mutex.hpp>

然后遇到下一个问题pcl_isfinite is not declared in this scope

解决办法是将PlaneInferredInfo.cpp中的if(!pcl_isfinite(outerPt.x))改为
    if(!isfinite(outerPt.x))

 

然后在编译stvo-pl的时候出现

By not providing "Findmrpt-base.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "mrpt-base", but CMake did not find one.

这个错误解决方法暂时还没有找到原因。