error记录

编译SG-SLAM出现的问题

问题描述

CMake Error at /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake:117 (find_package):
  Could not find a package configuration file provided by "boost_python3"
  (requested version 1.71.0) with any of the following names:
​
    boost_python3Config.cmake
    boost_python3-config.cmake

I just bumped into this as well on noetic w/ Ubuntu 20.04. In my case, I had to edit vision_opencv/cv_bridge/CMakeLists.txt as:

if(NOT ANDROID)
  find_package(PythonLibs)
  #  if(PYTHONLIBS_VERSION_STRING VERSION_LESS 3)
    find_package(Boost REQUIRED python)
    #else()
    #find_package(Boost REQUIRED python3)
    #endif()
else()
find_package(Boost REQUIRED)
endif()

i.e. basically comment out the test for checking for python2.

问题描述

CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "octomap_ros" with
  any of the following names:
​
    octomap_rosConfig.cmake
    octomap_ros-config.cmake

缺少包

//octomap_ros是我们缺少的,但是我们要把_改成-；
sudo apt-get install ros-noetic-octomap-ros

问题描述

ERROR: cannot launch node of type [octomap_server/octomap_server_node]: octomap_server
ROS path [0]=/opt/ros/melodic/share/ros

错误原因 这个报错说的是打不开node，因为没有octomap_server这个type

那么问题要么是路径找不到octomap-server，要不然就是压根没装octpmap-server

解决方法

sudo apt install ros-noetic-octomap
sudo apt install ros-noetic-octomap-server

问题描述

/usr/include/pcl-1.10/pcl/pcl_config.h:7:4: error: #error PCL requires C++14 or above
    7 |   #error PCL requires C++14 or above

PCL 1.10 要求使用 c++14 及以上版本，将 CMakeLists.txt 中的编译选项 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3") 改为 -std=c++14 即可

# Check C++14 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX14)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
   add_definitions(-DCOMPILEDWITHC11)
   message(STATUS "Using flag -std=c++14.")
elseif(COMPILER_SUPPORTS_CXX0X)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
   add_definitions(-DCOMPILEDWITHC0X)
   message(STATUS "Using flag -std=c++0x.")
else()
   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler.")
endif()

问题描述

error: static assertion failed: std::map must have the same value_type as its allocator
       static_assert(is_same<typename _Alloc::value_type, value_type>::value,

打开LoopClosing.h，将

error: static assertion failed: std::map must have the same value_type as its allocator
       static_assert(is_same<typename _Alloc::value_type, value_type>::value,

改为

typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>,
        Eigen::aligned_allocator<std::pair<KeyFrame *const, g2o::Sim3> > > KeyFrameAndPose;

问题描述

AttributeError: 'dict_keys' object has no attribute 'remove'

//keys = dic1.keys()  //改为下面语句
keys = list(dic1)

编译vinsmono时出现的问题

问题描述

fatal error: ceres/local_parameterization.h: 没有那个文件或目录
  \#include "ceres/local_parameterization.h"

在高版本2.1的ceres中，“LocalParameterization接口以及相关类已经被弃用，用流形(Manifold)进行了代替”。而我们在github中直接git下来的ceres应该是最新版本的，找不到ceres/local_parameterization.h也在情理之中了。所以改用低版本的ceres1.4也就可以解决这一问题啦。