运行svln2代码

根据github代码下载GitHub - AutonomousFieldRoboticsLab/SVIn: Underwater Navigation with tightly coupled fusion of Visual Inertial Sonar and Depth Information

先安装依赖
 

  sudo apt install cmake

  sudo apt install ros-noetic-pcl-ros
  sudo apt install ros-noetic-tf2-sensor-msgs

  sudo apt install libgoogle-glog-dev libatlas-base-dev libeigen3-dev

  sudo apt install libsuitesparse-dev libopencv-dev
  sudo apt install libboost-dev libboost-filesystem-dev

在安装libsuitesparse-dev libopencv-dev的时候出现了问题，但是由于之前在电脑里下载过opencv，跳过好像没影响。

安装ceres

  git clone https://github.com/ceres-solver/ceres-solver.git
  cd ceres-solver
  git checkout 1.14.x
  mkdir build
  cd build
  cmake -DCMAKE_BUILD_TYPE=Release ..
  make -j8
  sudo make install
  cd ../..

后续编译这一步会报错

手动安装了新版本ceres（2.2）

Tags · ceres-solver/ceres-solver · GitHub

安装brisk

  wget https://www.doc.ic.ac.uk/~sleutene/software/brisk-2.0.8.zip
  unzip brisk-2.0.8.zip
  cd brisk
  mkdir build
  cd build
  cmake -DCMAKE_BUILD_TYPE=Release ..
  make -j8
  sudo make install
  cd ../..

Building the project

  mkdir -p ~/svin_ws/src
  cd ~/svin_ws/src
  git clone --branch 0.2 https://github.com/AutonomousFieldRoboticsLab/SVIn.git
  git clone https://github.com/AutonomousFieldRoboticsLab/imagenex831l.git
  
  # For Ubuntu 18.04/20.04 (ROS Noetic)
  git clone --branch ros-noetic git@github.com:AutonomousFieldRoboticsLab/sonar_rviz_plugin.git
  
  cd ..
  catkin_make

这里找不到库，需要自己去重新下载

GitHub - AutonomousFieldRoboticsLab/sonar_rviz_plugin at ros-noetic

随后开始编译

处理报错

/usr/bin/ld: 找不到 -lopengv
collect2: error: ld returned 1 exit status
make[2]: *** [SVIn-main/pose_graph/CMakeFiles/pose_graph.dir/build.make:887：/home/zzz/catkin_ws_svln/devel/lib/libpose_graph.so] 错误 1
make[1]: *** [CMakeFiles/Makefile2:4448：SVIn-main/pose_graph/CMakeFiles/pose_graph.dir/all] 错误 2
make: *** [Makefile:141：all] 错误 2
Invoking "make -j12 -l12" failed

这里是自己下载了opengv的库,参考链接

https://www.cnblogs.com/long5683/p/13575788.html

sudo apt-get install build-essential
sudo apt-get install cmake
sudo apt-get install cmake libeigen3-dev
git clone https://github.com/laurentkneip/opengv
cd opengv 
mkdir build && cd build && cmake ..
make -j8
sudo make install

 随后就能正常编译了

运行

参考issue中，先使用v2测试，发现opencv版本不对，下载了4.2.0，可以运行了。

但是第二天编译发现出现了这个问题，要下载1.77boost,下载了boost也没用

找了一些电脑里的boost库，整理了一下名字，在/usr/include中把1.71.0复制到了usr/local/include中

编译，发现找不到boost，不能写版本名字。

算了还是老老实实下载boost1.71.1然后指定路径

SET(Boost_DIR /usr/local/lib/cmake/Boost-1.71.0/)   # 设置Boost_DIR