高翔视觉SLAM14讲-学习笔记

河马小白

已于 2022-09-08 21:27:13 修改

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分类专栏： slam 文章标签：学习

于 2022-08-23 20:50:36 首次发布

本文链接：https://blog.csdn.net/qq_47104322/article/details/126441594

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2 篇文章 1 订阅

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一、ch3学习记录（8.23）

1、可视化演示

关于运行Pangolin plotTrajectory.cpp，主要参考这个博客

关于Pangolin的下载：
（1）在3rdparty文件夹下面，作者已经给了压缩包
（2）或者自己去git下载
安装和编译在上面的链接了，比较简单不再赘述

关于 plotTrajectory.cpp 的运行：
（1）记得把 plotTrajectory.cpp 中的路径修改一下

string trajectory_file = "../../examples/trajectory.txt";

（2）在examples文件夹下创建一个build文件夹并编译

mkdir build
cd build/
cmake ..
make
./plotTrajectory

（3）结果就是这样：
请添加图片描述
（4）关于代码，作者没有写注释，我找到这个注释比较详细的博客，可以方便理解

2、显示相机的位姿
直接根据txt文件进行配置，ldconfig的作用这里讲的比较详细，大概就是链接库；我直接ldconfig时显示权限不够，于是使用sudo命令运行来配置。
遇到的问题：make 的时候报错
请添加图片描述根据这个博主的解决方法，就是把cmakelist里的c++11改成c++14就好了

set(CMAKE_CXX_FLAGS "-std=c++14")

成功截图如下：
请添加图片描述

二、Ch4（9.2）

这章学的有点费劲，看书看了快一周，数学基础较差，看李代数的内容有点吃力。。

流程如下：我首先删除example文件包，单独运行useSophus.cpp (记得注释掉cmakelist里的add_subdirectory(example) )

1.首先下载Sophus的安装包，这个博客对这个库有详细的说明还有这个博客也不错
在编译Sophus库时，报错：
请添加图片描述查了一下，这个帖子给了解决方法
意思是等号左边应该是一个能赋值的左值，而不是一个函数。所以修改如下：

  unit_complex_.real(1.0);
  unit_complex_.imag(0.);

再次编译就成功了。
虽然原书说不需要安装，但其实仍然需要？流程如下，不能少了sudo make install

2.cmake功能包ch4时，报错：
请添加图片描述将CMakeLists.txt中的

target_link_libraries(useSophus Sophus::Sophus)

改成

target_link_libraries(useSophus ${Sophus_LIBRARIES})

cmake成功
请添加图片描述
2.make报错 fatal error: sophus/se3.hpp: 没有那个文件或目录
将useSophus.cpp里的

#include "sophus/se3.hpp"

改成

#include "sophus/se3.h"
#include "sophus/so3.h"

3.报错 error: ‘SO3d’ is not a member of ‘Sophus’; did you mean ‘SO3’?
请添加图片描述将 SO3d、SE3d全部改成SO3、SE3
再次编译，通过，用./useSophus 进行运行，结果如下：
4.加入example文件包进行编译（不要忘记解开 cmakelist里的add_subdirectory(example）的注释）

make后的报错如下：

/home/wangchen/slamstudy/ch4/example/trajectoryError.cpp:5:10: fatal error: sophus/se3.hpp: 没有那个文件或目录
    5 | #include <sophus/se3.hpp>
      |          ^~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [example/CMakeFiles/trajectoryError.dir/build.make:63：example/CMakeFiles/trajectoryError.dir/trajectoryError.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:123：example/CMakeFiles/trajectoryError.dir/all] 错误 2
make: *** [Makefile:84：all] 错误 2

解决方法：如上述2

5.接下来报错

/home/wangchen/slamstudy/ch4/example/trajectoryError.cpp:15:24: error: ‘SE3d’ is not a member of ‘Sophus’; did you mean ‘SE3’?
   15 | typedef vector<Sophus::SE3d, Eigen::aligned_allocator<Sophus::SE3d>> TrajectoryType;

解决方法：如上述3

6.接下来报错：

/usr/bin/ld: CMakeFiles/trajectoryError.dir/trajectoryError.cpp.o: in function `main':
trajectoryError.cpp:(.text+0x14a): undefined reference to `Sophus::SE3::SE3(Sophus::SE3 const&)'
/usr/bin/ld: trajectoryError.cpp:(.text+0x178): undefined reference to `Sophus::SE3::SE3(Sophus::SE3 const&)'
/usr/bin/ld: trajectoryError.cpp:(.text+0x191): undefined reference to `Sophus::SE3::inverse() const'
/usr/bin/ld: trajectoryError.cpp:(.text+0x1ae): undefined reference to `Sophus::SE3::operator*(Sophus::SE3 const&) const'

解决方法：报错原因是因为trajectoryError.cpp引用了Sophus库，但是cmakelist没有关联库
加入这两行即可：
请添加图片描述编译成功：

请添加图片描述 7.使用./example/trajectoryError时，报错

trajectory ./example/groundtruth.txt not found.
trajectory ./example/estimated.txt not found.
trajectoryError: /home/wangchen/slamstudy/ch5/example/trajectoryError.cpp:24: int main(int, char**): Assertion `!groundtruth.empty() && !estimated.empty()' failed.
已放弃 (核心已转储)

表示找不到txt，把trajectoryError.cpp中的

string groundtruth_file = "./example/groundtruth.txt";
string estimated_file = "./example/estimated.txt";

改成绝对路径

string groundtruth_file = "/home/wangchen/slamstudy/ch5/example/groundtruth.txt";
string estimated_file = "/home/wangchen/slamstudy/ch5/example/estimated.txt";

就成功了
请添加图片描述 8.代码的详细解释：这篇博客写的不错
9.关于编译遇到的一些问题这个博客记录了将要踩的大多数坑

三、Ch5 （9.4）

安装open3.4费了点时间，由于我安装也是十分混乱的，用了很多博客的方法才成功，所以就不放在这里了。
最好是在ch5下面创建build并编译，如果在 imageBasics 文件夹下面创建build文件，那么需要在imageBasics下面的CMakeLists.txt里面加入“找到opencv库、引用头文件“的两句代码。
运行 imageBasics.cpp 是没什么问题的，唯一需要注意的是，显示png的命令：
(1) 根据原书的方法，在ch5文件夹下面运行：

build/imageBasics/imageBasics imageBasics/ubuntu.png

意思为：运行 build/imageBasics中的imageBasics可执行文件，后面接了一个图片的路径
（2）另一种方法：进入ch5/build/imageBasics下面，

请添加图片描述然后执行：

./imageBasics /home/wangchen/slamstudy/ch5/imageBasics/ubuntu.png

4.RGB-D的代码，需要更改的是
(1) 需要在rgb文件夹下面的cmakelist，增加一个${Sophus_LIBRARIES}，否则会报错。是我用这个博客的cmakelist内容发现的

target_link_libraries(joinMap ${OpenCV_LIBS} ${Pangolin_LIBRARIES} ${Sophus_LIBRARIES} )

报错这个：加上Sophus的链接库就好了

/usr/bin/ld: CMakeFiles/joinMap.dir/joinMap.cpp.o: in function `void std::vector<Sophus::SE3, Eigen::aligned_allocator<Sophus::SE3> >::_M_realloc_insert<Sophus::SE3 const&>(__gnu_cxx::__normal_iterator<Sophus::SE3*, std::vector<Sophus::SE3, Eigen::aligned_allocator<Sophus::SE3> > >, Sophus::SE3 const&)':
joinMap.cpp:(.text._ZNSt6vectorIN6Sophus3SE3EN5Eigen17aligned_allocatorIS1_EEE17_M_realloc_insertIJRKS1_EEEvN9__gnu_cxx17__normal_iteratorIPS1_S5_EEDpOT_[_ZNSt6vectorIN6Sophus3SE3EN5Eigen17aligned_allocatorIS1_EEE17_M_realloc_insertIJRKS1_EEEvN9__gnu_cxx17__normal_iteratorIPS1_S5_EEDpOT_]+0x94): undefined reference to `Sophus::SE3::SE3(Sophus::SE3 const&)'
/usr/bin/ld: joinMap.cpp:(.text._ZNSt6vectorIN6Sophus3SE3EN5Eigen17aligned_allocatorIS1_EEE17_M_realloc_insertIJRKS1_EEEvN9__gnu_cxx17__normal_iteratorIPS1_S5_EEDpOT_[_ZNSt6vectorIN6Sophus3SE3EN5Eigen17aligned_allocatorIS1_EEE17_M_realloc_insertIJRKS1_EEEvN9__gnu_cxx17__normal_iteratorIPS1_S5_EEDpOT_]+0xc7): undefined reference to `Sophus::SE3::SE3(Sophus::SE3 const&)'
/usr/bin/ld: joinMap.cpp:(.text._ZNSt6vectorIN6Sophus3SE3EN5Eigen17aligned_allocatorIS1_EEE17_M_realloc_insertIJRKS1_EEEvN9__gnu_cxx17__normal_iteratorIPS1_S5_EEDpOT_[_ZNSt6vectorIN6Sophus3SE3EN5Eigen17aligned_allocatorIS1_EEE17_M_realloc_insertIJRKS1_EEEvN9__gnu_cxx17__normal_iteratorIPS1_S5_EEDpOT_]+0x12c): undefined reference to `Sophus::SE3::SE3(Sophus::SE3 const&)'
/usr/bin/ld: joinMap.cpp:(.text._ZNSt6vectorIN6Sophus3SE3EN5Eigen17aligned_allocatorIS1_EEE17_M_realloc_insertIJRKS1_EEEvN9__gnu_cxx17__normal_iteratorIPS1_S5_EEDpOT_[_ZNSt6vectorIN6Sophus3SE3EN5Eigen17aligned_allocatorIS1_EEE17_M_realloc_insertIJRKS1_EEEvN9__gnu_cxx17__normal_iteratorIPS1_S5_EEDpOT_]+0x157): undefined reference to `Sophus::SE3::SE3(Sophus::SE3 const&)'
/usr/bin/ld: CMakeFiles/joinMap.dir/joinMap.cpp.o: in function `main':
joinMap.cpp:(.text.startup+0x93f): undefined reference to `Sophus::SE3::SE3(Eigen::Quaternion<double, 0> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)'
/usr/bin/ld: joinMap.cpp:(.text.startup+0x95d): undefined reference to `Sophus::SE3::SE3(Sophus::SE3 const&)'
/usr/bin/ld: joinMap.cpp:(.text.startup+0xbae): undefined reference to `Sophus::SE3::SE3(Sophus::SE3 const&)'
/usr/bin/ld: joinMap.cpp:(.text.startup+0xc7e): undefined reference to `Sophus::SE3::operator*(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) const'
collect2: error: ld returned 1 exit status
make[2]: *** [rgbd/CMakeFiles/joinMap.dir/build.make:150：rgbd/joinMap] 错误 1
make[1]: *** [CMakeFiles/Makefile2:219：rgbd/CMakeFiles/joinMap.dir/all] 错误 2
make: *** [Makefile:84：all] 错误 2

(2)运行./rgbd/joinMap的时候，报错

[ WARN:0@0.002] imread_('.//home/wangchen/slamstudy/ch5/rgbd/color/1.png'): can't open/read file: check file path/integrity
[ WARN:0@0.002] imread_('.//home/wangchen/slamstudy/ch5/rgbd/depth/1.pgm'): can't open/read file: check file path/integrity
[ WARN:0@0.002] imread_('.//home/wangchen/slamstudy/ch5/rgbd/color/2.png'): can't open/read file: check file path/integrity
[ WARN:0@0.002] imread_('.//home/wangchen/slamstudy/ch5/rgbd/depth/2.pgm'): can't open/read file: check file path/integrity
[ WARN:0@0.002] imread_('.//home/wangchen/slamstudy/ch5/rgbd/color/3.png'): can't open/read file: check file path/integrity
[ WARN:0@0.002] imread_('.//home/wangchen/slamstudy/ch5/rgbd/depth/3.pgm'): can't open/read file: check file path/integrity
[ WARN:0@0.002] imread_('.//home/wangchen/slamstudy/ch5/rgbd/color/4.png'): can't open/read file: check file path/integrity
[ WARN:0@0.003] imread_('.//home/wangchen/slamstudy/ch5/rgbd/depth/4.pgm'): can't open/read file: check file path/integrity
[ WARN:0@0.003] imread_('.//home/wangchen/slamstudy/ch5/rgbd/color/5.png'): can't open/read file: check file path/integrity
[ WARN:0@0.003] imread_('.//home/wangchen/slamstudy/ch5/rgbd/depth/5.pgm'): can't open/read file: check file path/integrity
转换图像中: 1
转换图像中: 2
转换图像中: 3
转换图像中: 4
转换图像中: 5
点云共有0个点.
Point cloud is empty!

经过几次尝试之后，将joinMap.cpp中的

boost::format fmt("./%s/%d.%s"); //图像文件格式

修改成

boost::format fmt("/home/wangchen/slamstudy/ch5/rgbd/%s/%d.%s"); //图像文件格式

就ok了
请添加图片描述

5.一些详细解释：
（1）读取图片及像素操作
imageBasics.cpp 详解
（2）双目图片->点云
stereoSGBM的函数和参数说明、注释比较全面；
这个注释也还行；
这个讲了一些基本原理。
（3）RGBD图片点云拼接
这个函数，主要是直接通过相机的位姿+深度图（直接获得每个像素点的深度信息）来获得点云的世界坐标，同时通过颜色图获得点云的颜色。

四、Ch6

这张数学比较多，需要看较长时间，所以先跳过

五、Ch7

1.编译orb_cv、orb_self.cpp，在cmake时报错：

CMake Error at CMakeLists.txt:10 (find_package):
  By not providing "FindG2O.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "G2O", but
  CMake did not find one.

  Could not find a package configuration file provided by "G2O" with any of
  the following names:

    G2OConfig.cmake
    g2o-config.cmake

  Add the installation prefix of "G2O" to CMAKE_PREFIX_PATH or set "G2O_DIR"
  to a directory containing one of the above files.  If "G2O" provides a
  separate development package or SDK, be sure it has been installed.


-- Configuring incomplete, errors occurred!
See also "/home/wangchen/slamstudy/ch7/build/CMakeFiles/CMakeOutput.log".

于是下载并安装了G20的库，但还是报错，解决方法：
在ch7下面的cmakelist里添加,list里面的路径是下载的g2o下面的cmake_modules文件夹的路径

set(G2O_ROOT /usr/local/include/g2o)
list( APPEND CMAKE_MODULE_PATH /home/wangchen/下载/g2o/cmake_modules )

编译后，在ch7文件夹下面使用命令

build/orb_self 1.png 2.png

请添加图片描述
PS：这里写一下cmakelist多行注释的方法：

开头 #[[ 
结尾是 ]]

2.编译 pose_estimation_3d2d.cpp 和 pose_estimation_3d3d.cpp 报错：

In file included from /usr/local/include/g2o/core/base_unary_edge.h:30,
                 from /home/wangchen/slamstudy/ch7/pose_estimation_3d3d.cpp:10:
/usr/local/include/g2o/core/base_fixed_sized_edge.h:39:10: fatal error: ceres/internal/fixed_array.h: 没有那个文件或目录
   39 | #include <ceres/internal/fixed_array.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/pose_estimation_3d3d.dir/build.make:63：CMakeFiles/pose_estimation_3d3d.dir/pose_estimation_3d3d.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:138：CMakeFiles/pose_estimation_3d3d.dir/all] 错误 2
make: *** [Makefile:84：all] 错误 2

解决方法：安装ceres库

3.接下来报错：

In file included from /usr/local/include/g2o/core/base_unary_edge.h:30,
                 from /home/wangchen/slamstudy/ch7/pose_estimation_3d3d.cpp:10:
/usr/local/include/g2o/core/base_fixed_sized_edge.h:200:32: error: ‘index_sequence’ is not a member of ‘std’
  200 |   struct HessianTupleType<std::index_sequence<Ints...>> {
      |                                ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:200:32: error: ‘index_sequence’ is not a member of ‘std’
/usr/local/include/g2o/core/base_fixed_sized_edge.h:200:51: error: expected parameter pack before ‘...’
  200 |   struct HessianTupleType<std::index_sequence<Ints...>> {
      |                                                   ^~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:200:51: error: template argument 1 is invalid
/usr/local/include/g2o/core/base_fixed_sized_edge.h:200:54: error: expected unqualified-id before ‘>’ token
  200 |   struct HessianTupleType<std::index_sequence<Ints...>> {
      |                                                      ^~

解决方法：error: ‘index_sequence’，修改cmakelist里的

set(CMAKE_CXX_FLAGS "-std=c++11 -O2 ${SSE_FLAGS} -msse4")

改成

set(CMAKE_CXX_FLAGS "-std=c++14 -O2 ${SSE_FLAGS} -msse4")

4.报错#include <cs.h>

In file included from /usr/local/include/g2o/solvers/csparse/csparse_helper.h:30,
                 from /usr/local/include/g2o/solvers/csparse/linear_solver_csparse.h:32,
                 from /home/wangchen/slamstudy/ch7/pose_estimation_3d2d.cpp:12:
/usr/local/include/g2o/solvers/csparse/csparse_extension.h:27:10: fatal error: cs.h: 没有那个文件或目录
   27 | #include <cs.h>
      |          ^~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/pose_estimation_3d2d.dir/build.make:63：CMakeFiles/pose_estimation_3d2d.dir/pose_estimation_3d2d.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:84：CMakeFiles/pose_estimation_3d2d.dir/all] 错误 2
make: *** [Makefile:84：all] 错误 2

参考了这篇文章的解决方法,在cmakelist里添加了一些内容

find_package( CSparse)
include_directories(
        ${OpenCV_INCLUDE_DIRS}
        ${G2O_INCLUDE_DIRS}
        ${Sophus_INCLUDE_DIRS}
        "/usr/include/eigen3/"
        ${CSPARSE_INCLUDE_DIR}
add_executable(pose_estimation_3d2d pose_estimation_3d2d.cpp)
target_link_libraries(pose_estimation_3d2d
        g2o_core g2o_stuff
        ${OpenCV_LIBS}
        ${CSPARSE_LIB}
        )

结果如下：
请添加图片描述
5.报错：

[ 80%] Linking CXX executable orb_self
In file included from /usr/local/include/g2o/core/base_unary_edge.h:30,
                 from /home/wangchen/slamstudy/ch7/pose_estimation_3d2d.cpp:9:
/usr/local/include/g2o/core/base_fixed_sized_edge.h:200:32: error: ‘index_sequence’ is not a member of ‘std’
  200 |   struct HessianTupleType<std::index_sequence<Ints...>> {
      |                                ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:200:32: error: ‘index_sequence’ is not a member of ‘std’
/usr/local/include/g2o/core/base_fixed_sized_edge.h:200:51: error: expected parameter pack before ‘...’
  200 |   struct HessianTupleType<std::index_sequence<Ints...>> {
      |                                                   ^~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:200:51: error: template argument 1 is invalid
/usr/local/include/g2o/core/base_fixed_sized_edge.h:200:54: error: expected unqualified-id before ‘>’ token
  200 |   struct HessianTupleType<std::index_sequence<Ints...>> {
      |                                                      ^~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:208:12: error: ‘make_index_sequence’ is not a member of ‘std’
  208 |       std::make_index_sequence<_nr_of_vertex_pairs>>::type;
      |            ^~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:208:12: error: ‘make_index_sequence’ is not a member of ‘std’
/usr/local/include/g2o/core/base_fixed_sized_edge.h:208:32: error: template argument 1 is invalid

解决方法：标准不匹配
，添加：

set(CMAKE_CXX_STANDARD 14)

6.报错：

/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:251:57: error: ‘_hessianTuple’ was not declared in this scope; did you mean ‘HessianTupleType’?
  251 |     tuple_apply_i(MapHessianMemoryK{d, vi_dim, vj_dim}, _hessianTuple, k);
      |                                                         ^~~~~~~~~~~~~
      |                                                         HessianTupleType
[ 90%] Built target triangulation
/home/wangchen/slamstudy/ch7/pose_estimation_3d2d.cpp: In function ‘void bundleAdjustment(std::vector<cv::Point3_<float> >, std::vector<cv::Point_<float> >, const cv::Mat&, cv::Mat&, cv::Mat&)’:
/home/wangchen/slamstudy/ch7/pose_estimation_3d2d.cpp:151:50: error: no matching function for call to ‘g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::BlockSolver(g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::LinearSolverType*&)’
  151 |     Block* solver_ptr = new Block ( linearSolver );     // 矩阵块求解器
      |                                                  ^

解决方法：借鉴这篇
将pose_estimation_3d2d.cpp里的这段修改以下就行

    // 初始化g2o
    typedef g2o::BlockSolver< g2o::BlockSolverTraits<6,3> > Block;  // pose 维度为 6, landmark 维度为 3
    Block::LinearSolverType* linearSolver = new g2o::LinearSolverCSparse<Block::PoseMatrixType>(); // 线性方程求解器
    Block* solver_ptr = new Block (std::unique_ptr<Block::LinearSolverType>(linearSolver));     // 矩阵块求解器
    g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(std::unique_ptr<Block>(solver_ptr));
    g2o::SparseOptimizer optimizer;
    optimizer.setAlgorithm ( solver );

7.报错：

home/wangchen/slamstudy/ch7/pose_estimation_3d2d.cpp:173:14: error: ‘VertexSBAPointXYZ’ is not a member of ‘g2o’; did you mean ‘VertexPointXYZ’?
  173 |         g2o::VertexSBAPointXYZ* point = new g2o::VertexSBAPointXYZ();
      |              ^~~~~~~~~~~~~~~~~
      |              VertexPointXYZ
/home/wangchen/slamstudy/ch7/pose_estimation_3d2d.cpp:173:33: error: ‘point’ was not declared in this scope
  173 |         g2o::VertexSBAPointXYZ* point = new g2o::VertexSBAPointXYZ();
      |                                 ^~~~~