苏黎世大学SVO2安装教程

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：

1. 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
)

2. catkin_build之前需要在该终端设置代理，否则会报错“Could not resolve proxy:https…”