SLAM14讲ch11代码实践部分

最新推荐文章于 2024-06-29 00:33:24 发布

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最新推荐文章于 2024-06-29 00:33:24 发布

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文章标签： opencv 计算机视觉 c++

本文链接：https://blog.csdn.net/m0_51461473/article/details/128222974

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一、安装DBoW3

git clone https://github.com/rmsalinas/DBow3
mkdir build
cd build
cmake ..
make -j4
sudo make install

二、编译运行过程中出现的问题汇总及解决办法

1.在使用cmake ..时出现CMake Error at CMakeLists.txt:8 (find_package):
Could not find a configuration file for package "OpenCV" that is compatible
with requested version "3.1".的错误，原因在于下载的源代码的CMakeList.txt文件中使用的opencv版本规定了为3.1。解决方法是将opencv后面3.1去掉就可以，具体改好后如下所示：

# opencv 
#find_package( OpenCV 3.1 REQUIRED )
find_package( OpenCV  REQUIRED )
include_directories( ${OpenCV_INCLUDE_DIRS} )

2.使用make时出现make[2]: *** 没有规则可制作目标“/usr/local/lib/libDBoW3.a”，由“feature_training” 需求。停止。
make[1]: *** [CMakeFiles/Makefile2:76：CMakeFiles/feature_training.dir/all] 错误 2
make: *** [Makefile:84：all] 错误 2的错误。原因在于下载的DBoW3中没有这个文件，就是说/usr/local/lib/libDBoW3.a这个静态库文件不存在。这是由于动态库链接中断造成的，我们在相应的文件目录下看看该文件的状态，但是观察到这个路径下有共享库，因此这个好解决，把其改为共享库：

# dbow3 
# dbow3 is a simple lib so I assume you installed it in default directory 
set( DBoW3_INCLUDE_DIRS "/usr/local/include" )
# set( DBoW3_LIBS "/usr/local/lib/libDBoW3.a" )
set( DBoW3_LIBS "/usr/local/lib/libDBoW3.so" )
add_executable( feature_training feature_training.cpp )
target_link_libraries( feature_training ${OpenCV_LIBS} ${DBoW3_LIBS} )

3.在执行命令 ./feature_training 时出现reading images...
[ WARN:0@0.067] global /home/l/opencv_build/opencv/modules/imgcodecs/src/loadsave.cpp (244) findDecoder imread_('./data/1.png'): can't open/read file: check file path/integrity错误，具体完整错误如下所示：

原因在于feature_training.cpp源代码中读取图片的路径有问题原读取图片路径如下

      string path = "./data/"+to_string(i+1)+".png";

这里需要把data文件路径改为绝对路径就可以，具体做法是找到data文件，在终端打开，使用命令pwd即可打印data文件路径，在我的电脑上改好后为

  string path = "/home/l/learn_slam/ch11/data/"+to_string(i+1)+".png";

改好后再次执行就可以成功运行，下面是成功运行的截图

对于loop_closure.cpp和gen_vocab_large.cpp同样需要改对应文件的路径，具体改法同上。在loop_closure.cpp需要改两处，在我的电脑上改好后如下：

int main(int argc, char **argv) {
    // read the images and database  
    cout << "reading database" << endl;
    DBoW3::Vocabulary vocab("/home/l/learn_slam/ch11/vocabulary.yml.gz");
    // DBoW3::Vocabulary vocab("./vocab_larger.yml.gz");  // use large vocab if you want: 
    if (vocab.empty()) {
        cerr << "Vocabulary does not exist." << endl;
        return 1;
    }
    cout << "reading images... " << endl;
    vector<Mat> images;
    for (int i = 0; i < 10; i++) {
       string path = "/home/l/learn_slam/ch11/data/"+to_string(i+1)+".png";
        images.push_back(imread(path));
    }

改好后成功运行结果如下图所示（以下是没有增加词典的情况下运行的结果）

4. 在执行./gen_vocab 命令时出现terminate called after throwing an instance of 'std::logic_error' what(): basic_string::_M_construct null not valid 已放弃 (核心已转储)的问题，具体见下图：

出现这个的问题我查找了一下相关的问题，好像是由于传入一个空指针导致的，对比源代码好像是在下面代码出有问题，因为整个文件夹里面没有涉及到文件associate.txt，所以才会出现上述错误。具体修改后的代码如下面第二个所示。这个地方由于自己也是初学，还没弄太明白，具体大家可以参考这篇文章http://t.csdn.cn/dmoBc，或者找对于问题。

int main( int argc, char** argv )
{
    string dataset_dir = argv[1];
    ifstream fin ( dataset_dir+"/associate.txt" );
    if ( !fin )
    {
        cout<<"please generate the associate file called associate.txt!"<<endl;
        return 1;
    }

    vector<string> rgb_files, depth_files;
    vector<double> rgb_times, depth_times;
    while ( !fin.eof() )
    {
        string rgb_time, rgb_file, depth_time, depth_file;
        fin>>rgb_time>>rgb_file>>depth_time>>depth_file;
        rgb_times.push_back ( atof ( rgb_time.c_str() ) );
        depth_times.push_back ( atof ( depth_time.c_str() ) );
        rgb_files.push_back ( dataset_dir+"/"+rgb_file );
        depth_files.push_back ( dataset_dir+"/"+depth_file );

        if ( fin.good() == false )
            break;
    }
    fin.close();

#include "DBoW3/DBoW3.h"//词袋支持头文件
#include <opencv2/core/core.hpp>//opencv核心模块
#include <opencv2/highgui/highgui.hpp>//gui模块
#include <opencv2/features2d/features2d.hpp>//特征点头文件
#include <iostream>
#include <vector>
#include <string>

using namespace cv;
using namespace std;


int main( int argc, char** argv )
{
    String directoryPath = "/home/l/learn_slam/ch11/data";//图像路径
    vector<String> imagesPath;
    glob(directoryPath, imagesPath);
    // string dataset_dir = argv[1];
    // ifstream fin ( dataset_dir+"/home/liqiang/slambook2/ch11/rgbd_dataset_freiburg1_desk2/rgb" );
    // if ( !fin )
    // {
    //     cout<<"please generate the associate file called associate.txt!"<<endl;
    //     return 1;
    // }

    // vector<string> rgb_files, depth_files;
    // vector<double> rgb_times, depth_times;
    // while ( !fin.eof() )
    // {
    //     string rgb_time, rgb_file, depth_time, depth_file;
    //     fin>>rgb_time>>rgb_file>>depth_time>>depth_file;
    //     rgb_times.push_back ( atof ( rgb_time.c_str() ) );
    //     depth_times.push_back ( atof ( depth_time.c_str() ) );
    //     rgb_files.push_back ( dataset_dir+"/"+rgb_file );
    //     depth_files.push_back ( dataset_dir+"/"+depth_file );

    //     if ( fin.good() == false )
    //         break;
    // }
    // fin.close();

    cout<<"generating features ... "<<endl;//输出generating features (正在检测ORB特征)...
    vector<Mat> descriptors;//描述子
    Ptr< Feature2D > detector = ORB::create();
    int index = 1;
    for ( String path : imagesPath )
    {
        Mat image = imread(path);
        vector<KeyPoint> keypoints; //关键点
        Mat descriptor;//描述子
        detector->detectAndCompute( image, Mat(), keypoints, descriptor );
        descriptors.push_back( descriptor );
        cout<<"extracting features from image " << index++ <<endl;//输出extracting features from image(从图像中提取特征)
    }
    cout<<"extract total "<<descriptors.size()*500<<" features."<<endl;

    // create vocabulary
    cout<<"creating vocabulary, please wait ... "<<endl;//输出creating vocabulary, please wait (创建词典，请稍等)...
    DBoW3::Vocabulary vocab;
    vocab.create( descriptors );
    cout<<"vocabulary info: "<<vocab<<endl;
    vocab.save( "vocab_larger.yml.gz" );//保存词典
    cout<<"done"<<endl;

    return 0;
}

其中传入的图片路径就是data文件下的图片路劲，改为你电脑上图片路径即可，再次执行，即可运行成功，具体如下：