毕设需要SLAM算法,稠密建图很方便能部署的就是ORBSlam2了,于是用了高博的稠密点云版本,借鉴了大佬Orbslam2 稠密点云 +D435i实现(Ubuntu18.04)_d435运行orbslam2-CSDN博客的部署过程,也遇到了段错误(核心已转储),分享一下成功解决的方法:
试了原文的解决办法,没有成功。排查了一下,跑一个小程序测试了PCL点云库,发现是点云库的问题。查了一些办法,最后找到可能原因是依赖库不全以及cmake的release版本和C++11不兼容的问题,遂改变编译方式重装PCL1.8.1.
一、安装各种依赖库
sudo apt-get update
sudo apt-get install git build-essential linux-libc-dev
sudo apt-get install cmake cmake-gui
sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
sudo apt-get install mpi-default-dev openmpi-bin openmpi-common
sudo apt-get install libflann1.9 libflann-dev (ubuntu18对应1。9,ubuntu16对应1。8)
sudo apt-get install libeigen3-dev
sudo apt-get install libboost-all-dev
sudo apt-get install libqhull* libgtest-dev
sudo apt-get install freeglut3-dev pkg-config
sudo apt-get install libxmu-dev libxi-dev
sudo apt-get install mono-complete
sudo apt-get install libopenni-dev
sudo apt-get install libopenni2-dev
sudo apt-get install libx11-dev libxext-dev libxtst-dev libxrender-dev libxmu-dev libxmuu-dev
sudo apt-get install build-essential libgl1-mesa-dev libglu1-mesa-dev
二、安装VTK7.1.1
去VTK官网Download | VTK下载VTK7.1.1版本的source,解压后打开文件夹
终端打开,(最好不要用make -j,虚拟机会卡得很死)
mkdir build
cd build
cmake ..
make -j4(-j?视自己虚拟机情况而定)
sudo make install
编译时间比较长,等待完成即可。
三、安装PCL1.8.1
https://github.com/PointCloudLibrary/pcl/releases?page=2
下载对应版本,解压终端打开
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=None
make -j4
sudo make install
安装完毕,再次测试PCL小程序,附测试程序:
#include <iostream>
#include <pcl/common/common_headers.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/console/parse.h>
using namespace std;
int main(int argc, char **argv) {
cout << "Test PCL !" << endl;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);
uint8_t r(255), g(15), b(15);
for (float z(-1.0); z <= 1.0; z += 0.05) {
for (float angle(0.0); angle <= 360.0; angle += 5.0) {
pcl::PointXYZRGB point;
point.x = cos (pcl::deg2rad(angle));
point.y = sin (pcl::deg2rad(angle));
point.z = z;
uint32_t rgb = (static_cast<uint32_t>(r) << 16 | static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
point.rgb = *reinterpret_cast<float*>(&rgb);
point_cloud_ptr->points.push_back (point);
}
if (z < 0.0) {
r -= 12;
g += 12;
}
else {
g -= 12;
b += 12;
}
}
point_cloud_ptr->width = (int) point_cloud_ptr->points.size ();
point_cloud_ptr->height = 1;
pcl::visualization::CloudViewer viewer ("pcl—test测试");
viewer.showCloud(point_cloud_ptr);
while (!viewer.wasStopped()){ };
return 0;
}
CMakeLists.txt
cmake_minimum_required(VERSION 2.6)
project(test_pcl)
find_package(PCL 1.8.1 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(-std=c++03)
add_definitions(${PCL_DEFINITIONS})
add_executable(test_pcl test_pcl.cpp)
target_link_libraries (test_pcl ${PCL_LIBRARIES})
install(TARGETS test_pcl RUNTIME DESTINATION bin)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
自行编译后,在build文件夹终端打开,输入./test_pcl,弹出点云窗口,段错误解决!
四、重新测试ORB_SLAM2
正常工作,问题搞定!
如果还有转储问题,记得在工程的CMakeLists.txt里面补上这句,防止PCL库和C++2011冲突
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")