针对报错: CMakeFiles/joinMap.dir/joinMap.o: In function `fmt::v8::detail::throw_format_error(char const*)':
以及运行后报错:请在有pose.txt的目录下运行此程序 或者:Point cloud is empty!
修改方法:
1.修改rgbd/cmakelist.txt
最后一行加入fmt,链接fmt库,修改后如下:
find_package(Sophus REQUIRED)
include_directories(${Sophus_INCLUDE_DIRS})
find_package(Pangolin REQUIRED)
add_executable(joinMap joinMap.cpp)
target_link_libraries(joinMap ${OpenCV_LIBS} ${Pangolin_LIBRARIES} fmt)
2.修改joinMap.cpp
修改pose.txt 成绝对路径:
ifstream fin("/home/tzy/shijue_ws/src/slambook14/ch5/rgbd/pose.txt");
3.在ch5目录下编译
mkdir build
cd build
cmake ..
make
4.复制joinMap可执行文件
然后将build下的rgbd/joinMap 可执行文件 复制到ch5/rgbd 下:
5.运行
在ch5/rgbd路径下
./joinMap