运行PLslam历程

1.stvo中的matching的第47行会提示只需一个变量但提供俩，可改为下行代码:
 cv::Ptr<cv::DescriptorMatcher> bfm = cv::BFMatcher::create("cv::NORM_HAMMING"); // cross-check
 但随之的问题是：/home/fyh/PL_SLAM/stvo-pl-master/lib/libstvo.so:-1: error: undefined reference to `cv::ximgproc::createFastLineDetector(int, float, double, double, int, bool)'
看不懂啊……   记于2018.06.13 22:17

解决方法：安装opencv3.4.0+opencv_contrib-3.4.0(一定记得版本要对应)  记于2018.7.12 15:48
https://blog.csdn.net/poulang5786/article/details/79027444
      https://github.com/opencv/opencv/tree/3.4.0
      https://github.com/opencv/opencv_contrib/tree/3.4.0

额外需要的包：https://github.com/opencv/opencv_3rdparty/tree/contrib_xfeatures2d_vgg_20160317

2./usr/bin/ld: /usr/local/lib/libyaml-cpp.a(memory.cpp.o): relocation R_X86_64_32 against `.rodata' can not be used when making a shared object; recompile with -fPIC
/usr/local/lib/libyaml-cpp.a: erro