视觉SLAM十四讲学习笔记——ch13 设计SLAM 系统

路拾遗37

已于 2022-05-01 20:58:08 修改

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分类专栏： 37のSLAM学习文章标签： c++ SLAM

于 2022-05-01 11:12:23 首次发布

本文链接：https://blog.csdn.net/qq_41880787/article/details/124523927

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文章目录

要暂时转去学习机械臂控制相关,这部分留一个坑,以后有时间,手撕一遍代码,现在先做项目调试.

Bug调试

在这里插入图片描述这里报错是因为还没安装 Geset 库,安装教程可参考博客: [Ubuntu]GTest安装和测试

或者直接执行下面指令进行安装:

sudo apt-get install libgtest-dev
cd /usr/src/gtest
sudo mkdir build 
cd build
sudo cmake ..    //一定要以sudo的方式运行，否则没有写入权限
sudo make        //这个也一样要以sudo的方式
sudo cp libgtest*.a /usr/local/lib   //将生成的libgtest.a 和 libgtest_main.a 拷贝到系统的lib路径下

make报错,截取报错报告片段如下:

In file included from /usr/local/include/g2o/core/base_binary_edge.h:30:0,
                 from /home/lmf37/桌面/slambook2/ch13/include/myslam/g2o_types.h:10,
                 from /home/lmf37/桌面/slambook2/ch13/src/frontend.cpp:12:
/usr/local/include/g2o/core/base_fixed_sized_edge.h:199:32: error: ‘index_sequence’ is not a member of ‘std’
   struct HessianTupleType<std::index_sequence<Ints...>> {
                                ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:199:32: error: ‘index_sequence’ is not a member of ‘std’
/usr/local/include/g2o/core/base_fixed_sized_edge.h:199:51: error: expected parameter pack before ‘...’
   struct HessianTupleType<std::index_sequence<Ints...>> {
                                                   ^~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:199:51: error: template argument 1 is invalid
/usr/local/include/g2o/core/base_fixed_sized_edge.h:199:54: error: expected unqualified-id before ‘>’ token
   struct HessianTupleType<std::index_sequence<Ints...>> {
                                                      ^~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:207:12: error: ‘make_index_sequence’ is not a member of ‘std’
       std::make_index_sequence<_nr_of_vertex_pairs>>::type;
            ^~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:207:12: error: ‘make_index_sequence’ is not a member of ‘std’
/usr/local/include/g2o/core/base_fixed_sized_edge.h:207:32: error: template argument 1 is invalid
       std::make_index_sequence<_nr_of_vertex_pairs>>::type;
                                ^~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:206:33: error: expected nested-name-specifier
   using HessianTuple = typename HessianTupleType<
                                 ^~~~~~~~~~~~~~~~~
       std::make_index_sequence<_nr_of_vertex_pairs>>::type;
       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:209:12: error: ‘make_index_sequence’ is not a member of ‘std’
       std::make_index_sequence<_nr_of_vertex_pairs>>::typeTransposed;
            ^~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:209:12: error: ‘make_index_sequence’ is not a member of ‘std’
/usr/local/include/g2o/core/base_fixed_sized_edge.h:209:32: error: template argument 1 is invalid
       std::make_index_sequence<_nr_of_vertex_pairs>>::typeTransposed;
                                ^~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:208:43: error: expected nested-name-specifier
   using HessianTupleTransposed = typename HessianTupleType<
                                           ^~~~~~~~~~~~~~~~~
       std::make_index_sequence<_nr_of_vertex_pairs>>::typeTransposed;
       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:232:32: error: ‘std::index_sequence’ has not been declared
   bool allVerticesFixedNs(std::index_sequence<Ints...>) const;
                                ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:232:46: error: expected ‘,’ or ‘...’ before ‘<’ token
   bool allVerticesFixedNs(std::index_sequence<Ints...>) const;
                                              ^
/usr/local/include/g2o/core/base_fixed_sized_edge.h:238:37: error: ‘std::index_sequence’ has not been declared
                                std::index_sequence<Ints...>);
                                     ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:238:51: error: expected ‘,’ or ‘...’ before ‘<’ token
                                std::index_sequence<Ints...>);
                                                   ^
/usr/local/include/g2o/core/base_fixed_sized_edge.h:246:30: error: ‘std::index_sequence’ has not been declared
   void linearizeOplusNs(std::index_sequence<Ints...>);
                              ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:246:44: error: expected ‘,’ or ‘...’ before ‘<’ token
   void linearizeOplusNs(std::index_sequence<Ints...>);
                                            ^
/usr/local/include/g2o/core/base_fixed_sized_edge.h:275:38: error: ‘std::index_sequence’ has not been declared
                                 std::index_sequence<Ints...>);
                                      ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:275:52: error: expected ‘,’ or ‘...’ before ‘<’ token
                                 std::index_sequence<Ints...>);
                                                    ^
/usr/local/include/g2o/core/base_fixed_sized_edge.h:282:49: error: ‘std::index_sequence’ has not been declared
                                            std::index_sequence<>);
                                                 ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:282:63: error: expected ‘,’ or ‘...’ before ‘<’ token
                                            std::index_sequence<>);
                                                               ^
/usr/local/include/g2o/core/base_fixed_sized_edge.h:286:49: error: ‘std::index_sequence’ has not been declared
                                            std::index_sequence<Ints...>);
                                                 ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:286:63: error: expected ‘,’ or ‘...’ before ‘<’ token
                                            std::index_sequence<Ints...>);
                                                               ^
/usr/local/include/g2o/core/base_fixed_sized_edge.h:303:3: error: ‘HessianTuple’ does not name a type; did you mean ‘HessianTupleType’?
   HessianTuple _hessianTuple;
   ^~~~~~~~~~~~
   HessianTupleType
/usr/local/include/g2o/core/base_fixed_sized_edge.h:304:3: error: ‘HessianTupleTransposed’ does not name a type; did you mean ‘HessianTupleType’?
   HessianTupleTransposed _hessianTupleTransposed;
   ^~~~~~~~~~~~~~~~~~~~~~
   HessianTupleType
/usr/local/include/g2o/core/base_fixed_sized_edge.h: In constructor ‘g2o::BaseFixedSizedEdge<D, E, VertexTypes>::BaseFixedSizedEdge()’:
/usr/local/include/g2o/core/base_fixed_sized_edge.h:215:9: error: class ‘g2o::BaseFixedSizedEdge<D, E, VertexTypes>’ does not have any field named ‘_hessianTuple’
         _hessianTuple(internal::createHessianMaps(_hessianTuple)),
         ^~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:215:51: error: ‘_hessianTuple’ was not declared in this scope
         _hessianTuple(internal::createHessianMaps(_hessianTuple)),
                                                   ^~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:215:51: note: suggested alternative: ‘HessianTupleType’
         _hessianTuple(internal::createHessianMaps(_hessianTuple)),
                                                   ^~~~~~~~~~~~~
                                                   HessianTupleType
.
.
.
.
.
.
/usr/local/include/sigslot/signal.hpp: In instantiation of ‘void sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::operator()(U&& ...) [with U = {pangolin::VarState::Event}; Lockable = std::mutex; T = {pangolin::VarState::Event}]’:
/usr/local/include/pangolin/var/varstate.h:264:23:   required from ‘std::map<std::__cxx11::basic_string<char>, std::shared_ptr<pangolin::VarValueGeneric> >::iterator pangolin::VarState::AddUpgradedVar(const std::shared_ptr<pangolin::VarValue<T> >&, const iterator&, bool) [with T = bool; std::map<std::__cxx11::basic_string<char>, std::shared_ptr<pangolin::VarValueGeneric> >::iterator = std::_Rb_tree_iterator<std::pair<const std::__cxx11::basic_string<char>, std::shared_ptr<pangolin::VarValueGeneric> > >]’
/usr/local/include/pangolin/var/varstate.h:205:13:   required from ‘std::shared_ptr<pangolin::VarValueGeneric> pangolin::VarState::GetOrCreateVar(const T&, const pangolin::VarMeta&) [with T = bool]’
/usr/local/include/pangolin/var/var.h:83:50:   required from ‘pangolin::Var<T>::Var(const T&, const pangolin::VarMeta&) [with T = bool]’
/usr/local/include/pangolin/var/var.h:88:35:   required from ‘pangolin::Var<T>::Var(const string&, const T&) [with T = bool; std::__cxx11::string = std::__cxx11::basic_string<char>]’
/usr/local/include/pangolin/display/widgets.h:153:50:   required from here
/usr/local/include/sigslot/signal.hpp:1180:65: error: ‘slots_reference’ was not declared in this scope
         cow_copy_type<list_type, Lockable> ref = slots_reference();
                                                  ~~~~~~~~~~~~~~~^~
src/CMakeFiles/myslam.dir/build.make:173: recipe for target 'src/CMakeFiles/myslam.dir/backend.cpp.o' failed
make[2]: *** [src/CMakeFiles/myslam.dir/backend.cpp.o] Error 1
make[2]: *** 正在等待未完成的任务....
src/CMakeFiles/myslam.dir/build.make:159: recipe for target 'src/CMakeFiles/myslam.dir/frontend.cpp.o' failed
make[2]: *** [src/CMakeFiles/myslam.dir/frontend.cpp.o] Error 1
CMakeFiles/Makefile2:133: recipe for target 'src/CMakeFiles/myslam.dir/all' failed
make[1]: *** [src/CMakeFiles/myslam.dir/all] Error 2
Makefile:100: recipe for target 'all' failed
make: *** [all] Error 2

这里错误是编译器版本错误,将下面两句注释掉(感慨一下,c++11)改c++ 14 有亿点点万能

#set(CMAKE_CXX_FLAGS "-std=c++11 -Wall")
#set(CMAKE_CXX_FLAGS_RELEASE  "-std=c++11 -O3 -fopenmp -pthread")
#可以修改为
set(CMAKE_CXX_FLAGS "-std=c++14 -O2 ${SSE_FLAGS} -msse4")
#或者是
set(CMAKE_CXX_STANDARD 14)

在这里插入图片描述报了关于 fmt的错,这里根据之前经验只需要在所有 CmakeList文件中target_link_libraries(run_kitti_stereo myslam ${THIRD_PARTY_LIBS} fmt)后面添加 fmt

继续报错

/usr/bin/ld: ../../bin/run_kitti_stereo: hidden symbol `_ZTIN3fmt2v712format_errorE' in //usr/local/lib/libfmt.a(format.cc.o) is referenced by DSO
/usr/bin/ld: 最后的链结失败: 错误的值
collect2: error: ld returned 1 exit status
app/CMakeFiles/run_kitti_stereo.dir/build.make:133: recipe for target '../bin/run_kitti_stereo' failed
make[2]: *** [../bin/run_kitti_stereo] Error 1
CMakeFiles/Makefile2:195: recipe for target 'app/CMakeFiles/run_kitti_stereo.dir/all' failed
make[1]: *** [app/CMakeFiles/run_kitti_stereo.dir/all] Error 2
Makefile:94: recipe for target 'all' failed
make: *** [all] Error 2

这里还需要将 src文件中的SHARE改为STATIC

add_library(myslam STATIC
        frame.cpp
        mappoint.cpp
        map.cpp
        camera.cpp
        config.cpp
        feature.cpp
        frontend.cpp
        backend.cpp
        viewer.cpp
        visual_odometry.cpp
        dataset.cpp)

target_link_libraries(myslam
        ${THIRD_PARTY_LIBS} fmt)

即可编译通过
在这里插入图片描述下载 Kitti数据集
大约22G

如果点击链接不能下载请参考博客
终端执行,加入新查到的IP52.219.169.17 s3.eu-central-1.amazonaws.com

sudo gedit /etc/hosts

127.0.0.1	localhost
127.0.1.1	lmf37-X542UQR

# The following lines are desirable for IPv6 capable hosts
::1     ip6-localhost ip6-loopback
fe00::0 ip6-localnet
ff00::0 ip6-mcastprefix
ff02::1 ip6-allnodes
ff02::2 ip6-allrouters

52.219.169.17 s3.eu-central-1.amazonaws.com

点击链接即可下载,文件较大,下载时间较长
在这里插入图片描述

运行test_triangulation 测试程序

在终端进入bin文件夹,输入./test_triangulation ,进行测试,结果如下:

[==========] Running 1 test from 1 test case.
[----------] Global test environment set-up.
[----------] 1 test from MyslamTest
[ RUN      ] MyslamTest.Triangulation
[       OK ] MyslamTest.Triangulation (0 ms)
[----------] 1 test from MyslamTest (0 ms total)

[----------] Global test environment tear-down
[==========] 1 test from 1 test case ran. (0 ms total)
[  PASSED  ] 1 test.

运行 kitti_stereo 程序

这里又报错如下:

WARNING: Logging before InitGoogleLogging() is written to STDERR
I0501 20:32:45.548229 10796 visual_odometry.cpp:44] VO is running
段错误 (核心已转储)

修改app/run_kitti_stereo.cpp，注释掉assert这句代码，将vo->Init()提取出来，重新编译运行：
修改如下

//assert(vo->Init() == true);
    vo->Init();
    vo->Run();

提示:记得更改 kitti数据集位置
在default.yaml把dataset_dir的路径改为前面下载的kitti数据集存放的绝对路径.
在终端进入chp文件夹目录,输入.\bin\run_kitti_stereo
可参考这篇博客
注意一定不能进入bin目录下运行run_kitti_stereo,否则会报如下错误:

WARNING: Logging before InitGoogleLogging() is written to STDERR
I20210712 22:42:13.808815 12504 visual_odometry.cpp:44] VO is running Segmentation fault (core dumped)段错误 (核心已转储)

结果如下:(运行的为dataset/sequences/00数据)

在这里插入图片描述

(运行的为dataset/sequences/21数据)
在这里插入图片描述 附加小技能 😃 生成gif动图(默认已经下载好byzanz)

xwininfo //获取窗口参数数据
/*
xwininfo: Please select the window about which you
          would like information by clicking the
          mouse in that window.

xwininfo: Window id: 0x6c00003 "MySLAM"

  Absolute upper-left X:  117
  Absolute upper-left Y:  107
  Relative upper-left X:  10
  Relative upper-left Y:  38
  Width: 1024
  Height: 768
  Depth: 24
  Visual: 0x18c
  Visual Class: TrueColor
  Border width: 0
  Class: InputOutput
  Colormap: 0x6c00001 (not installed)
  Bit Gravity State: ForgetGravity
  Window Gravity State: NorthWestGravity
  Backing Store State: NotUseful
  Save Under State: no
  Map State: IsViewable
  Override Redirect State: no
  Corners:  +117+107  -779+107  -779-205  +117-205
  -geometry 1024x768+107+69
*/
byzanz-record --help  //获取帮助
/*
用法：
  byzanz-record [OPTION…] 录制您的当前桌面会话

帮助选项：
  -?, --help              显示帮助选项
  --help-all              显示全部帮助选项
  --help-gtk              显示 GTK+ 选项

应用程序选项：
  -d, --duration=SECS     动画的时间 (默认：10 秒)
  -e, --exec=COMMAND      Command to execute and time
  --delay=SECS            开始之前的延时(默认：1 秒)
  -c, --cursor            录制鼠标光标
  -a, --audio             录音
  -x, --x=像素            要录制矩形的 X 坐标
  -y, --y=像素            要录制矩形的 Y 坐标
  -w, --width=像素        录制矩形的宽度
  -h, --height=像素       录制矩形的高度
  -v, --verbose           详细
  --display=显示          要使用的 X 显示

*/
byzanz-record -d 2 -x 117 -y 107 -w 1024 -h 768 ~/a.gif

参考博客

路拾遗37

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视觉SLAM十四讲学习笔记——ch13 设计SLAM 系统

文章目录Bug调试参考博客要暂时转去学习机械臂控制相关,这部分留一个坑,以后有时间,手撕一遍代码,现在先做项目调试.Bug调试这里报错是因为还没安装 Geset 库,安装教程可参考博客: [Ubuntu]GTest安装和测试或者直接执行下面指令进行安装:sudo apt-get install libgtest-devcd /usr/src/gtestsudo mkdir build cd buildsudo cmake .. //一定要以sudo的方式运行，否则没有写入权限sud
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