rpg_svo_pro_open编译指南

存在的坑

• cmake：报错error: variable templates only available with -std=c++14 or -std=gnu++14 [-Werror]可能需要升级 cmake 版本到 3.21.4
• pcl-ros：找不到pcl-ros就安装：sudo apt install ros-melodic-pcl-ros
• opencv：需要指定opencv版本3，在项目Readme Troubleshooting中有介绍
• Eigen：如果有多个版本Eigen，可能会有冲突；先按Troubleshooting解决，不行就直接将/usr/include中的Eigen拷贝替换/usr/local/include中
• ssh：ssh克隆不到git项目，将svo_ws/src/rpg_svo_pro_open/dependencies.yaml相关的 git@github.com: 全部替换为https克隆

ARM平台编译

fast-neon包编译问题

在armv8平台上编译fast包会存在neon问题，只需要下载 https://github.com/uzh-rpg/fast_neon.git 并checkout到 test/aarch64-compilation 分支即可。

vikit-common问题

vikit也会遇到neon编译选项问题，解决方法：

svo_ws/src/rpg_svo_pro_open/svo_cmake/cmake/Modules/SvoSetup.cmake
修改如下：

SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo
#SET(CMAKE_BUILD_TYPE Debug) # Release, RelWithDebInfo
SET(CMAKE_VERBOSE_MAKEFILE OFF)

# user build settings
SET(USE_LOOP_CLOSING TRUE)
SET(USE_GLOBAL_MAP TRUE)

# Set definitions
IF(USE_LOOP_CLOSING)
  ADD_DEFINITIONS(-DSVO_LOOP_CLOSING)
ENDIF()

IF(USE_GLOBAL_MAP)
  ADD_DEFINITIONS(-DSVO_GLOBAL_MAP)
ENDIF()

ADD_DEFINITIONS(-DSVO_USE_ROS)
ADD_DEFINITIONS(-DSVO_USE_OPENGV)
ADD_DEFINITIONS(-DSVO_DEPTHFILTER_IN_REPROJECTOR)

#############################################################################
# Set build flags, set ARM_ARCHITECTURE environment variable on Odroid
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread -Wall -Werror -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas -Wno-unused-but-set-parameter -Wno-int-in-bool-context -Wno-maybe-uninitialized -Wno-unused-function")

set(ENV{ARM_ARCHITECTURE} aarch64)

IF(DEFINED ENV{ARM_ARCHITECTURE})
	IF("$ENV{ARM_ARCHITECTURE}" STREQUAL "aarch64")
		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -march=native")
        ELSEIF("$ENV{ARM_ARCHITECTURE}" STREQUAL "armv8")
                SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -march=native")
	ELSE()
		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -mfpu=neon -march=armv7-a")
	ENDIF()
    ADD_DEFINITIONS(-DHAVE_FAST_NEON)
ELSE()
	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -mmmx -msse -msse -msse2 -msse3 -mssse3 -fomit-frame-pointer")
ENDIF()

# IF(DEFINED ENV{ARM_ARCHITECTURE})
#   SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -march=armv7-a")
#   ADD_DEFINITIONS(-DHAVE_FAST_NEON)
# ELSE()
#   SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mmmx -msse -msse2 -msse3 -mssse3 -mno-avx")
# ENDIF()
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops -ffast-math -fno-finite-math-only")

如果不用global map记得SET(USE_GLOBAL_MAP FALSE)