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ceres solver之三种求导方式
非线性优化涉及到对目标函数进行求导,从而迭代优化。Ceres Solver提供了三种求导方式:自动求导、数值求导和解析求导。1. 自动求导自动求导是通过定义一个仿函数,然后传给AutoDiffCostFunction,就可以让Ceres自己去求导。1.1 定义仿函数所谓仿函数,其实是一个类,只不过这个类的作用像函数,所以叫仿函数。原理就是类实现了operator()函数。struct CostFunctor { template <typename T> bool ope转载 2021-07-06 10:26:32 · 2136 阅读 · 0 评论 -
编译报错: error: ‘nullptr’ was not declared in this scope
解决办法:在CMakeLists.txt文件中添加:SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")或者添加:add_definitions(-std=c++11)参考:https://www.codeleading.com/article/4874922235/原创 2021-02-05 12:53:56 · 818 阅读 · 0 评论 -
编译报错:fatal error: cuda_runtime.h: 没有那个文件或目录
报错:fatal error: cuda_runtime.h: 没有那个文件或目录解决办法:在工程的CMakeLists.txt中添加如下语句:find_package(CUDA REQUIRED)include_directories("${CUDA_INCLUDE_DIRS}")参考:https://stackoverflow.com/questions/13167598/error-cuda-runtime-h-no-such-file-or-directory/43389168.原创 2021-02-04 20:35:02 · 4571 阅读 · 1 评论 -
error: redefinition of template<class MatrixType, class RealScalar, class Index> 解决办法
调试代码是编译报错如下:/usr/local/include/eigen3/Eigen/src/misc/RealSvd2x2.h:19:6: error: redefinition of ‘template<class MatrixType, class RealScalar, class Index> void Eigen::internal::real_2x2_jacobi_svd(const MatrixType&, Index, Index, Eigen::JacobiRot原创 2021-01-10 21:56:57 · 1639 阅读 · 1 评论 -
ROS中NodeHandle nh与NodeHandle nh(“~“)区别
代码调试时在一个小细节上一时疏忽,导致改来改去,后来发现是节点句柄设置的问题,也是因平常不够细心,在此做个记录。1、句柄NodeHandle nh("~") ros::init (argc, argv, "ply_load"); ros::NodeHandle nh("~"); ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Info); readParameters原创 2021-01-04 21:35:09 · 7970 阅读 · 4 评论 -
RealSense T265相机使用及运行ORB-SLAM3
1、驱动安装。同realsense D435i,不做介绍。2、运行realsense-viewer查看效果3、修改rs_t265.launch文件,查看运行效果,作如下修改: <arg name="enable_fisheye1" default="true"/> <arg name="enable_fisheye2" default="true"/> <arg name="enable_sync" default="t原创 2020-12-15 20:47:45 · 5388 阅读 · 29 评论 -
velodyne运行Loam_velodyne过程记录
刚拿到手的3D激光雷达,运行一下试试。(1)loam_velodyne环境配置cd ~/catkin_ws/src/git clone https://github.com/laboshinl/loam_velodyne.gitcd ~/catkin_wscatkin_make -DCMAKE_BUILD_TYPE=Release source ~/catkin_ws/devel/setup.bash(2)打开终端,开启激光雷达roslaunch velodyne_pointcloud V原创 2020-11-26 19:34:07 · 703 阅读 · 2 评论 -
Velodyne-16激光雷达初步使用
1、环境配置激光雷达的基本配置参考古月居的博客介绍https://www.guyuehome.com/12706(1)安装驱动sudo apt-get install ros-kinetic-velodyne(2)配置网络,连接到激光雷达新建一个Velodyne有线连接的网络配置,配置如为:IP地址192.168.1.77,子网掩码255.255.255.0,网关192.168.1.1。按这样配置成功后,子网掩码自动会变成数字24,没问题。然后接入激光雷达,打开浏览器输入192.168.1.原创 2020-11-26 19:12:44 · 588 阅读 · 0 评论 -
2020.10.22项目调试记录
1、对于ROS项目,catkin_make之后找不到可执行的launch文件,source devel/setup.bash之后还是无效。最后发现是对应的CMakeLists.txt文件中某个语句的位置问题导致的,解决办法为:catkin_package()一定要放于find_package()之上catkin_package()一定要放于find_package()之上catkin_package()一定要放于find_package()之上2、...原创 2020-10-22 10:05:03 · 200 阅读 · 1 评论 -
编译VDO-SLAM报错:...This support must be enabled with the -std=c++11 or -std=gnu++11 compiler options.
报错现象:#error This file requires compiler and library support for the ISO C++ 2011 standard. This support must be enabled with the -std=c++11 or -std=gnu++11 compiler options.解决办法:在依赖项g2o的CMakeLists.txt文件中指定c++编译器,如下set(CMAKE_CXX_FLAGS "-std=c++11")原创 2020-10-08 16:32:55 · 432 阅读 · 11 评论 -
LIO-SAM安装及运行数据集记录
1、代码下载github链接https://github.com/TixiaoShan/LIO-SAM2、安装依赖项sudo apt-get install -y ros-kinetic-navigationsudo apt-get install -y ros-kinetic-robot-localizationsudo apt-get install -y ros-kinetic-robot-state-publishergtsam:下载源文件安装https://github.com/bo原创 2020-09-16 17:03:08 · 4385 阅读 · 1 评论 -
Can‘t Compile project with PCL
报错:In file included from /usr/include/vtk/vtkAtomicTypes.h:18:0, from /usr/include/vtk/vtkObjectBase.h:46, from /usr/include/vtk/vtkSmartPointerBase.h:27, from /usr/include/vtk/vtkSmartPointer.h:23,原创 2020-07-16 22:46:20 · 662 阅读 · 1 评论 -
加载共享库报错:cannot open shared object file: No such file or directory
解决办法:打开新终端,输入sudo /sbin/ldconfig -v即可解决。网上还有很多其他办法,我没有进行尝试,链接如下,可以参考。https://stackoverflow.com/questions/480764/linux-error-while-loading-shared-libraries-cannot-open-shared-object-file-no-s?rq=1https://stackoverflow.com/questions/50979295/error-whi原创 2020-06-11 23:29:09 · 452 阅读 · 0 评论 -
编译ORB报错No rule to make target '/usr/lib/x86_64-linux-gnu/libvtkproj4-6.2.so.6.2.0'
报错现象:No rule to make target '/usr/lib/x86_64-linux-gnu/libvtkproj4-6.2.so.6.2.0'解决办法:sudo ln -s /usr/lib/x86_64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/x86_64-linux-gnu/libvtkproj4-6.2.so.6.2.0...原创 2020-05-05 10:39:06 · 474 阅读 · 0 评论 -
编译安装OpenCV3.4.6报错:‘nullptr’...
最近调试深度学习代码,安装Python3对应的OpencV报错,错误如下:/home/bruce/software/opencv-3.4.6/modules/viz/src/vtk/vtkTrajectorySource.h: In static member function ‘static cv::viz::vtkTrajectorySource* cv::viz::vtkTrajector...原创 2019-12-16 14:58:23 · 442 阅读 · 0 评论 -
2019.11.19日调试代码笔记
安装GPU版本的OpenCV248:/home/bruce/software/opencv-2.4.8/modules/gpu/src/nvidia/core/NCVPixelOp…hpp中 50~68行的static全部去除 119-149中的static也全部删去graphcuts.cpp中45行添加如下:#if !defined (HAVE_CUDA) || defined (CUD...原创 2019-11-19 19:54:01 · 295 阅读 · 0 评论 -
Kalibr安装与使用:camera + IMU标定
1、安装Kailbr依赖项sudo apt-get install python-setuptools python-rosinstall ipython libeigen3-dev libboost-all-dev doxygen libopencv-dev ros-kinetic-vision-opencv ros-kinetic-image-transport-plugins ros-ki...原创 2019-11-19 15:37:41 · 3508 阅读 · 7 评论 -
catkin_make安装realsense D435I的ROS包报错:not find... ddynamic_reconfigureConfig.cmake
报错信息:-- Could not find the required component 'ddynamic_reconfigure'. The following CMake error indicates that you either need to install the package with the same name or change your environment so ...原创 2019-11-06 21:01:29 · 6634 阅读 · 6 评论 -
VINS-mono运行数据集没有轨迹之解决办法
1、首先参照港科大github上的源码REAMDE进行环境配置https://github.com/HKUST-Aerial-Robotics/VINS-Mono2、下载并安装Eigen3.3.3,虽然对于Eigen3.3.3只是用到头文件,但是还是必须安装(否则还是无法显示轨迹)mkdir buildcd buildcmake ..make -j4make install3、重...原创 2019-11-06 19:53:51 · 2158 阅读 · 0 评论 -
ubuntu下rviz直接加载rviz_config.rviz文件进行地图显示
在调试运行DenseSurfelMapping的时候出现一个问题(我水平很菜),在rviz界面无法调试出map地图显示,官方给了rviz_config.rviz文件,想着干脆直接用官方配置好的文件。操作如下:cd至/opt/ros/kinetic/share/rviz目录下,找到default.rviz文件,这个文件是默认运行rviz时加载的配置。打开该文件进行编辑:sudo gedit d...原创 2019-11-01 19:20:32 · 8489 阅读 · 2 评论 -
编译港科大DenseSurfelMapping下改动的ORB-SLAM2报错:undefined reference to symbol '_ZN5boost6system15system_...
报错现象:/usr/bin/ld: CMakeFiles/Stereo.dir/src/ros_stereo.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DS...原创 2019-11-01 10:59:46 · 1475 阅读 · 11 评论 -
ORB-SLAM2编译报错:rospack found package "ORB_SLAM2" at "/opt/ros/kinetic/share/ORB_SLAM2", but the....
折腾了一中午,尝试了各种修改路径的方法,仍然是提示报错,但是路径明明是添加进去了…报错信息:[rosbuild] Building package ORB_SLAM2[rosbuild] Error from directory check: /opt/ros/kinetic/share/ros/core/rosbuild/bin/check_same_directories.py /opt...原创 2019-10-26 09:08:01 · 8055 阅读 · 9 评论