DS-SLAM运行记录

DS-SLAM运行记录

配置环境

vtk-6.3
pcl-1.9
opencv 3.4.1

DS_SLAM的错误：

在DS-SLAM下编译完生成.so文件后，没有更新到lib文件夹中，导致后续编译报错，以后遇到问题看清楚了再解决，别就知道重装软件！！！

 

修改ros_tum_realtime.cc文件，把ros相关的部分删除！！！

删除完，编译报错，全是对vtk......未定义的引用

[100%] Linking CXX executable ../Examples/ROS/ORB_SLAM2_PointMap_SegNetM/rgbd_tum
/usr/bin/ld: warning: libvtkRenderingLOD-6.2.so.6.2, needed by /usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libvtkViewsContext2D-6.2.so.6.2, needed by /usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libvtkIOPLY-6.2.so.6.2, needed by /usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libvtkRenderingVolumeOpenGL-6.2.so.6.2, needed by /usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so, not found (try using -rpath or -rpath-link)

/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkAbstractContextItem::Update()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkChartXY::New()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkRenderingContextOpenGL_AutoInit_Construct()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkPNGWriter::New()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkPNGReader::New()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkXYPlotActor::RemoveAllDataSetInputConnections()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkgl::EnableVertexAttribArray’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkAbstractContextItem::MouseMoveEvent(vtkContextMouseEvent const&)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkRenderingFreeTypeFontConfig_AutoInit_Destruct()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkDataArrayTemplate<long long>::WritePointer(long long, long long)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkRenderingFreeTypeFontConfig_AutoInit_Construct()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkOpenGLHardwareSupport::GetNumberOfFixedTextureUnits()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkContextView::New()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_io.so：对‘vtkSTLWriter::New()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkRenderingFreeTypeOpenGL_AutoInit_Destruct()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkAbstractContextItem::MouseButtonPressEvent(vtkContextMouseEvent const&)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkgl::BindBuffer’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkOrientationMarkerWidget::SetViewport(double, double, double, double)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkAbstractContextItem::StackUnder(unsigned int, unsigned int)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkContext2D::DrawLine(float, float, float, float)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkContextItem::PrintSelf(std::ostream&, vtkIndent)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkShaderProgram2::SetContext(vtkRenderWindow*)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘typeinfo for vtkImageCanvasSource2D’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkAbstractContextItem::KeyReleaseEvent(vtkContextKeyEvent const&)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkContextActor::New()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkgl::BufferData’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkDataArrayTemplate<double>::SetArray(double*, long long, int, int)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkAbstractContextItem::MouseEnterEvent(vtkContextMouseEvent const&)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkContextItem::~vtkContextItem()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkContext2D::DrawString(float, float, char const*)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkAbstractContextItem::StackAbove(unsigned int, unsigned int)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_io.so：对‘vtkPLYWriter::New()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkOrientationMarkerWidget::SetInteractive(int)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkContextScene::SetDirty(bool)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkXYPlotActor::AddDataObjectInput(vtkDataObject*)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkPen::GetLineType()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkAbstractContextItem::MapToParent(vtkVector2f const&)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkJPEGReader::New()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkAbstractContextItem::SetParent(vtkAbstractContextItem*)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkOrientationMarkerWidget::SetOutlineColor(double, double, double)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkContext2D::DrawEllipse(float, float, float, float)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkAbstractContextItem::MouseButtonReleaseEvent(vtkContextMouseEvent const&)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkContextActor::GetScene()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkImageCanvasSource2D::~vtkImageCanvasSource2D()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkPNMReader::New()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkRenderingFreeTypeOpenGL_AutoInit_Construct()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkImageCanvasSource2D::RequestData(vtkInformation*, vtkInformationVector**, vtkInformationVector*)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkIOMPIImage_AutoInit_Construct()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkPen::DeepCopy(vtkPen*)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkImageCanvasSource2D::New()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkContext2D::GetTextProp()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkContext2D::DrawImage(float, float, vtkImageData*)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkBrush::SetColor(unsigned char, unsigned char, unsigned char, unsigned char)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkImageCanvasSource2D::RequestInformation(vtkInformation*, vtkInformationVector**, vtkInformationVector*)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_io.so：对‘vtkPolyDataWriter::New()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkXYPlotActor::SetDataObjectYComponent(int, int)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkAbstractContextItem::MouseDoubleClickEvent(vtkContextMouseEvent const&)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkShaderProgram2::Use()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkShaderProgram2::Restore()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkOpenGLRenderWindow::GetHardwareSupport()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkContext2D::DrawWedge(float, float, float, float, float, float)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkRenderingMatplotlib_AutoInit_Construct()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkContext2D::DrawPoints(float*, int)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkContext2D::DrawEllipticArc(float, float, float, float, float, float)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkIOMPIParallel_AutoInit_Construct()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkAbstractContextItem::MouseWheelEvent(vtkContextMouseEvent const&, int)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkAbstractContextItem::GetPickedItem(vtkContextMouseEvent const&)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkDataArrayTemplate<unsigned char>::SetArray(unsigned char*, long long, int, int)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkContextItem::vtkContextItem()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkBrush::SetColor(unsigned char*)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkImageCanvasSource2D::GetNumberOfScalarComponents() const’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkXYPlotActor::New()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkScalarBarActor::New()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkContext2D::DrawPoly(float*, int)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkAbstractContextItem::MapToScene(vtkVector2f const&)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkDataArrayTemplate<long long>::ResizeAndExtend(long long)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkBrush::New()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkgl::DisableVertexAttribArray’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkIOMPIParallel_AutoInit_Destruct()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkAbstractContextItem::Hit(vtkContextMouseEvent const&)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkImageCanvasSource2D::SetNumberOfScalarComponents(int)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkContext2D::GetPen()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_io.so：对‘vtkWriter::SetInputData(vtkDataObject*)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkAbstractContextItem::KeyPressEvent(vtkContextKeyEvent const&)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkPlot::SetInputData(vtkTable*, long long, long long)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkAbstractContextItem::PaintChildren(vtkContext2D*)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkOrientationMarkerWidget::New()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkRenderingMatplotlib_AutoInit_Destruct()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkOpenGLHardwareSupport::GetSupportsMultiTexturing()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkContextScene::AddItem(vtkAbstractContextItem*)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkRenderingContextOpenGL_AutoInit_Destruct()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkAbstractContextItem::ReleaseGraphicsResources()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkAbstractContextItem::MapFromParent(vtkVector2f const&)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkPen::SetColor(unsigned char*)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkRenderingVolumeOpenGL_AutoInit_Destruct()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkContext2D::DrawPoint(float, float)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkImageCanvasSource2D::vtkImageCanvasSource2D()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkAbstractContextItem::MapFromScene(vtkVector2f const&)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkBrush::DeepCopy(vtkBrush*)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkAbstractContextItem::SetScene(vtkContextScene*)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkContext2D::DrawQuad(float*)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_io.so：对‘vtkSTLReader::New()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkContext2D::ApplyBrush(vtkBrush*)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkLoopSubdivisionFilter::New()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkContext2D::GetBrush()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkRenderingOpenGL_AutoInit_Construct()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkgl::GenBuffers’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkLODActor::New()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘typeinfo for vtkContextItem’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkAbstractContextItem::MouseLeaveEvent(vtkContextMouseEvent const&)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkTIFFReader::New()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkContext2D::DrawPointSprites(vtkImageData*, float*, int)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkXYPlotActor::SetDataObjectXComponent(int, int)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkAxesActor::New()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkImageCanvasSource2D::PrintSelf(std::ostream&, vtkIndent)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_io.so：对‘vtkPolyDataReader::GetOutput()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkContext2D::DrawPolygon(float*, int)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkPen::SetColor(unsigned char, unsigned char, unsigned char, unsigned char)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkBMPReader::New()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkContext2D::DrawRect(float, float, float, float)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkPLYReader::New()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkLegendScaleActor::New()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkRenderingVolumeOpenGL_AutoInit_Construct()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkgl::VertexAttribPointer’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_io.so：对‘vtkImageImport::SetImportVoidPointer(void*, int)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkDataArrayTemplate<float>::SetArray(float*, long long, int, int)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_io.so：对‘vtkImageImport::New()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkPen::New()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkRenderingOpenGL_AutoInit_Destruct()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_io.so：对‘vtkOBJReader::New()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkContext2D::ApplyPen(vtkPen*)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkOpenGLRenderWindow::GetExtensionManager()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkPen::SetLineType(int)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkgl::DeleteBuffers’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkXYPlotActor::SetPlotColor(int, double, double, double)’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_io.so：对‘vtkPolyDataReader::New()’未定义的引用
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_visualization.so：对‘vtkIOMPIImage_AutoInit_Destruct()’未定义的引用
collect2: error: ld returned 1 exit status

vtk版本不对,重新安装6.3版本,pcl1.9重新安装，并且修改cmake中关于pcl的版本，编译成功

然后运行下面的命令：

记得把参数改成八个：

wang@wang-SYS-7048GR-TR:~/ZJF/catkin_ws/src/DS-SLAM$ ./Examples/ROS/ORB_SLAM2_PointMap_SegNetM/rgbd_tum Vocabulary/ORBvoc.bin ./Examples/ROS/ORB_SLAM2_PointMap_SegNetM/TUM3.yaml rgbd_dataset_freiburg3_walking_xyz/ rgbd_dataset_freiburg3_walking_xyz/associate.txt ./Examples/ROS/ORB_SLAM2_PointMap_SegNetM/prototxts/segnet_pascal.prototxt ./Examples/ROS/ORB_SLAM2_PointMap_SegNetM/segnet_pascal\(1\).caffemodel ./Examples/ROS/ORB_SLAM2_PointMap_SegNetM/tools/pascal.png

 

 

代码解读：

1.Moving Consistency Check,将语义类别为人的ORB特征点删除

int ORBextractor::CheckMovingKeyPoints( const cv::Mat &imGray, const cv::Mat &imS,std::vector<std::vector<cv::KeyPoint>>& mvKeysT,std::vector<cv::Point2f> T)
{
   
    float scale;
    int flag_orb_mov =0;
   
   // Make further judgment
   //what's the meaning of variable ‘T’???
	for (int i = 0; i < T.size(); i++)
	{
	    for(int m = -15; m < 15; m++) 
	    {
	        for(int n = -15; n < 15; n++)
	        {
                //why the value of m and n is 15???
	            int my = ((int)T[i].y + n) ;
	            int mx = ((int)T[i].x + m) ;
		        if( ((int)T[i].y + n) > (Camera::height -1) ) my = (Camera::height - 1) ;
	        	if( ((int)T[i].y + n) < 1 ) my = 0;
		        if( ((int)T[i].x + m) > (Camera::width -1) ) mx = (Camera::width - 1) ;
		        if( ((int)T[i].x + m) < 1 ) mx = 0;
                // The label of peopel is 15
		        if((int)imS.ptr<uchar>(my)[mx] == PEOPLE_LABLE)
		        {
		            flag_orb_mov=1;
		               break;
		        }
	        }
	        if(flag_orb_mov==1)
	            break;
	     }
	     if(flag_orb_mov==1)
            break;
	}
	 
	// Moving
	if(flag_orb_mov==1)
	{
	    for (int level = 0; level < nlevels; ++level)
            {
                vector<cv::KeyPoint>& mkeypoints = mvKeysT[level];
		        int nkeypointsLevel = (int)mkeypoints.size();
		        if(nkeypointsLevel==0)
		                continue;
		        if (level != 0)
			        scale = mvScaleFactor[level]; 
		        else
			        scale =1; 
                vector<cv::KeyPoint>::iterator keypoint = mkeypoints.begin();
               
                while(keypoint != mkeypoints.end())
	            {
		             cv::Point2f search_coord = keypoint->pt * scale;
		             // Search in the semantic image
		             if(search_coord.x >= (Camera::width -1)) search_coord.x=(Camera::width -1);
		             if(search_coord.y >= (Camera::height -1)) search_coord.y=(Camera::height -1) ;
		             int label_coord =(int)imS.ptr<uchar>((int)search_coord.y)[(int)search_coord.x];
		             if(label_coord == PEOPLE_LABLE) 
		             {
			            keypoint=mkeypoints.erase(keypoint);		       
		             }
		             else
		             {
			            keypoint++;
		             }
	             }
	          }
      }
      return flag_orb_mov;
}

 

新建了一个PangolinViewer的线程,mpMap没传进去,导致运行时报错,修改后可以显示地图,有位姿,但是没有点云

terminate called after throwing an instance of 'std::system_error'what(): Invalid argument

    cv::Mat class_each_row (channels, width*height, CV_32FC1, const_cast<float *>(output_layer->cpu_data()));
    class_each_row = class_each_row.t();

    cv::Point maxId;
    double maxValue;
    cv::Mat prediction_map(height, width, CV_8UC1);

    for (int i=0;i<class_each_row.rows;i++)
    {
        cv::minMaxLoc(class_each_row.row(i),0,&maxValue,0,&maxId);
        prediction_map.at<uchar>(i) = maxId.x;
    }

error: ‘std::chrono::monotonic_clock’ has not been declared