视觉SLAM十四讲（第二版）ch12实践问题

最新推荐文章于 2024-05-03 10:28:59 发布

海雾楼艾迪尔

最新推荐文章于 2024-05-03 10:28:59 发布

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本文链接：https://blog.csdn.net/m0_56140527/article/details/133960274

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文章讲述了在使用PCL库时遇到的编译错误，包括`dense_mapping.cpp`中的`update`函数类型修改和`surfel_mapping.cpp`中`setPolynomialFit`函数的名称错误。解决方法是更新CMakeLists文件，将C++标准从c++11改为c++14。

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1.dense_mapping.cpp

运行可执行程序时出现segmention fault段错误

解决方法：

将update函数类型由bool改成void（原函数段没有写返回值）

2.pointcloud_mapping.cpp

（c++11标准）编译执行make命令后报一系列错误：

/usr/include/pcl-1.12/pcl/common/point_tests.h:124:38: error: ‘pcl::traits::HasNoXYZ’ has not been declared
124 | template <typename PointT, traits::HasNoXYZ<PointT> = true> constexpr inline bool
| ^~~~~~~~
/usr/include/pcl-1.12/pcl/common/point_tests.h:124:46: error: expected ‘>’ before ‘<’ token
124 | template <typename PointT, traits::HasNoXYZ<PointT> = true> constexpr inline bool
...

In file included from /usr/include/c++/11/algorithm:62,
from /usr/local/include/opencv4/opencv2/core/base.hpp:55,
from /usr/local/include/opencv4/opencv2/core.hpp:53,
from /usr/local/include/opencv4/opencv2/core/core.hpp:48,
from /home/jadrian/fslambook2/ch12/dense_RGBD/pointcloud_mapping.cpp:6:
/usr/include/c++/11/bits/stl_algo.h: In instantiation of ‘_OIter std::transform(_IIter, _IIter, _OIter, _UnaryOperation) [with _IIter = __gnu_cxx::__normal_iterator<const pcl::Vertices*, std::vector<pcl::Vertices> >; _OIter = std::back_insert_iterator<std::vector<pcl::Vertices> >; _UnaryOperation = pcl::PolygonMesh::concatenate(pcl::PolygonMesh&, const pcl::PolygonMesh&)::<lambda(int)>]’:
/usr/include/pcl-1.12/pcl/PolygonMesh.h:42:21: required from here
/usr/include/c++/11/bits/stl_algo.h:4296:31: error: no match for call to ‘(pcl::PolygonMesh::concatenate(pcl::PolygonMesh&, const pcl::PolygonMesh&)::<lambda(int)>) (const pcl::Vertices&)’
4296 | *__result = __unary_op(*__first);
| ~~~~~~~~~~^~~~~~~~~~

...

make[2]: *** [dense_RGBD/CMakeFiles/surfel_mapping.dir/build.make:76：dense_RGBD/CMakeFiles/surfel_mapping.dir/surfel_mapping.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:198：dense_RGBD/CMakeFiles/surfel_mapping.dir/all] 错误 2
make: *** [Makefile:91：all] 错误 2

原因：

PCL1.9以上版本使用的是c++14标准

解决办法：

在dense_RGBD下的cmakelist文件中，将：

set(CMAKE_CXX_FLAGS "-std=c++11 -O2")

改为：

set(CMAKE_CXX_FLAGS "-std=c++14 -O2")3.

3.surfel_mapping.cpp

编译过程报错：（成员函数setPolynomialOrder）

error: ‘class pcl::MovingLeastSquares<pcl::PointXYZRGB, pcl::PointXYZRGBNormal>’ has no member named ‘setPolynomialFit’; did you mean ‘setPolynomialOrder’?

31 | mls.setPolynomialFit(polynomial_order > 1);
| ^~~~~~~~~~~~~~~~
| setPolynomialOrder