SVO2安装
github网址https://github.com/uzh-rpg/rpg_svo_pro_open
1.安装需要的依赖库
sudo apt-get install
可能报错
W:GPG error:http://mirrors.ustc.edu.cn/ros/ubuntu bionic InRelease:The fllowing signatures were invalid:......
E:The repository'http://mirrors.ustc.edu.cn/ros/ubuntu bionic InRelease' is not signed
解决方法:如果源没问题的话可以考虑将源中的https改为http
sudo apt-get install python-catkin-tools python-vcstool
sudo apt-get install libglew-dev libopencv-dev libyaml-cpp-dev
sudo apt-get install libblas-dev liblapack-dev libsuitesparse-dev
2.安装和编译
mkdir svo_ws && cd svo_ws
catkin config --init --mkdirs --extend /opt/ros/melodic --cmake-args -DCMAKE_BUILD_TYPE=Release -DEIGEN3_INCLUDE_DIR=/usr/include/eigen3
cd src
git clone http://github.com/uzh-rpg/rpg_svo_pro_open.git
如果不想在端口设置代理的话,可以直接在gitconfig中改代理
gedit ~/.gitconfig
修改配置
[http]
proxy = http://10.1.1.199:7890
[https]
proxy = https://10.1.1.199:7890
vcs-import < ./rpg_svo_pro_open/dependencies.yaml
该命令会git所有dependencies.yaml中的网址,但需要将每个url由
git@github.com:catkin/catkin_simple.git
改为 https://github.com/catkin/catkin_simple.git
touch minkindr/minkindr_python/CATKIN_IGNORE
cd rpg_svo_pro_open/svo_online_loopclosing/vocabularies && ./download_voc.sh
download_voc.sh中的命令执行下载压缩包,通过wget时下载未成功,因此自己复制粘贴网址并下载了压缩包,并将解压后的文件放到rpg_svo_pro_open/svo_online_loopclosing/vocabularies文件夹中。
cd ../../..
catkin build
编译出错:
- dbow2_catkin出错:
svo_ws/src/dbow2_catkin/CMakeLists.txt中,同样需要修改git的网址
ExternalProject_Add(dbow2_src
#GIT_REPOSITORY git@github.com:dorian3d/DBoW2.git
GIT_REPOSITORY https://github.com/dorian3d/DBoW2.git
CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CATKIN_DEVEL_PREFIX}
BUILD_COMMAND CXXFLAGS=-i${CATKIN_DEVEL_PREFIX}/include make
INSTALL_COMMAND make install
)
- catkin_build之前需要在该终端设置代理,否则会报错“Could not resolve proxy:https…”