A-loam学习—初次跑码问题与解决

zjj587

已于 2023-12-12 18:03:56 修改

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文章标签： ubuntu

于 2023-11-06 14:38:34 首次发布

本文链接：https://blog.csdn.net/yggfvmj/article/details/134245899

版权

ubuntu20.04，因为版本问题，源码会存在许多版本不兼容问题：

1、pcl问题：

/usr/include/pcl-1.10/pcl/point_types.h:550:1: error: ‘plus’ is not a member of ‘pcl::traits

解决：

更改cmakelist.txt文件
添加

set(CMAKE_CXX_STANDARD 14)

参考：

https://blog.csdn.net/weixin_44001261/article/details/123299374?ops_request_misc=&request_id=&biz_id=102&utm_term=/usr/include/pcl-1.10/pcl/poin&utm_medium=distribute.pc_search_result.none-task-blog-2~all~sobaiduweb~default-1-123299374.nonecase&spm=1018.2226.3001.4187

2、opencv问题

/home/zjj/catkin_ws/src/A-LOAM/src/scanRegistration.cpp:44:10: fatal error: opencv/cv.h: 没有那个文件或目录
 #include <opencv/cv.h>

解决：
文件：scanrRegistration.cpp

 #include <opencv/cv.h> 改为 #include <opencv2/opencv.hpp>

参考https://blog.csdn.net/pvmsmfchcs/article/details/128658681?ops_request_misc=%257B%2522request%255Fid%2522%253A%252217003133
7016800182127074%2522%252C%2522scm%2522%253A%252220140713.130102334..%25
22%257D&request_id=170031337016800182127074&biz_id=0&utm_medium=distribut
e.pc_search_result.none-task-blog-2~all~sobaiduend~default-2-128658681-null-null.142^v96^pc_search_result_base2&utm_term=%20fatal%20error%3A%20o
pencv%2Fcv.h%3A%20%E6%B2%A1%E6%9C%89%E9%82%A3%E4%B8%AA%E6%96%87%E4%BB%B6
%E6%88%96%E7%9B%AE%E5%BD%95%20%20%23include%20%3Copencv%2Fcv.h%3E&spm=1018.2226.3001.4187

3、问题：

cv::Mat left_image = cv::imread(left_image_path.str(), CV_LOAD_IMAGE_GRAYSCALE);

参考：
https://blog.csdn.net/weixin_41560777/article/details/124138138?ops_request_misc=%257B%2522request%255Fid%2522%253A%252217003141931
6800211517409%2522%252C%2522scm%2522%253A%252220140713.130102334..%25
22%257D&request_id=170031419316800211517409&biz_id=0&utm_medium=distri
bute.pc_search_result.none-task-blog-2~all~sobaiduend~default-1-124138138-null-null.142^v96^pc_search_result_base2&utm_term=error%3A%20%E2%80%98CV_LOAD_IMAGE_G
RAYSCALE%E2%80%99%20was%20not%20declared%20in%20this%20scope%20%20%20%20%20%
20%20%20%20%20cv%3A%3AMat%20left_image%20%3D%20cv%3A%3Aimread%28left_image_
path.str%28%29%2C%20CV_LOAD_IMAGE_GRAYSCALE%29%3B&spm=1018.2226.3001.4187

4、只有轨迹，没有建图

Failed to transform from frame [/camera_init] to frame [camera_init]

解决：
将四个cpp文件中 [/camera_init] 改为 [camera_init]

参考：https://blog.csdn.net/zardforever123/article/details/125570551

5、ceres 安装：

ceres官网最新版本安装可能会存在问题，采用安装1.13.0版本

从从ubuntu18.04 安装编译ceres-solver-1.14.0 编译错误-CSDN博客

学习

SLAM前端入门框架-A_LOAM源码解析 - 知乎 (zhihu.com)

LOAM笔记及A-LOAM源码阅读 - WellP.C - 博客园 (cnblogs.com)

A-loam算法没有，loam中提到的特征边缘删除，采取的更简单的阈值。

参考： https://b23.tv/f2tY6hw