pl-slam-ros踩坑日记

运行vo时出现如下错误：

/usr/include/eigen3/Eigen/src/Core/DenseStorage.h:128: Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 32>::plain_array() [with T = float; int Size = 8; int MatrixOrArrayOptions = 0]: Assertion `(reinterpret_cast<size_t>(eigen_unaligned_array_assert_workaround_gcc47(array)) & (31)) == 0 && "this assertion is explained here: " "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" " **** READ THIS WEB PAGE !!! ****"' failed.
我的解决方法是：将stvo-pl中的CMakeLists中：

#SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3 -mtune=native -march=native")
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3 -mtune=native ")

上面的改成下面的。运行：

./vo ../../config/dataset_params/euroc_params.yaml

接着是要启动数据集：

rosbag play MH_01_easy.bag cam0/image_raw:=/image_left cam1/image_raw:=/image_right

其中说明一下image_left，image_right是与代码相对应的。