svo试运行

最新推荐文章于 2022-01-14 11:34:28 发布

a1059682127

最新推荐文章于 2022-01-14 11:34:28 发布

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分类专栏： slam

本文链接：https://blog.youkuaiyun.com/a1059682127/article/details/89853296

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博客介绍了fast角点检测的安装链接，vikit的安装步骤，包括设置标志、复制文件等。还提及运行SVO需下载数据集、修改配置文件，给出参考链接。在ros下试运行时，catkin_make出现cv_bridge问题，运行一段时间会中断，并给出对应参考链接。

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1、安装fast角点检测部分https://github.com/uzh-rpg/fast

2、安装vikit

git clone https://github.com/uzh-rpg/rpg_vikit.git

CMake Error at CMakeLists.txt:55 (FIND_PACKAGE):
  By not providing "Findcatkin.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "catkin", but
  CMake did not find one.

set the flag USE_ROS to FALSE in rpg_vikit/vikit_common/CMakeList.txt

/usr/local/include/vikit/nlls_solver.h:167:32: fatal error: nlls_solver_impl.hpp: No such file or directory
 #include "nlls_solver_impl.hpp"

将nlls_solver_impl.hpp复制到/usr/local/include/vikit/include中

编译成功

run SVO：

znkz@znkz:~/slam/rpg_svo-master/svo/bin$ ./test_pipeline 
[INFO] SVO initialized
terminate called after throwing an instance of 'std::logic_error'
  what():  basic_string::_S_construct null not valid
已放弃 (核心已转储)

需下载数据集

并修改~/.bashrc:

export SVO_DATASET_DIR=/home/znkz/slam/rpg_svo-master/Datasets

参考链接：https://www.cnblogs.com/Jessica-jie/p/7780499.html

https://blog.youkuaiyun.com/xingzhou1212/article/details/63682032#insertcode

ros下试运行：

catkin_make出现cv_bridge问题，参考链接：http://www.cnblogs.com/Jessica-jie/p/6959309.html

znkz@znkz:~$ roslaunch svo_ros test_rig3.launch

运行一小段时间就中断

[ INFO] [1557453461.354524825]: Init: KLT tracked 147 features
[ INFO] [1557453461.354567618]: Init: KLT 45.2503px average disparity.
[ INFO] [1557453461.389456167]: Init: KLT tracked 146 features
[ INFO] [1557453461.389523600]: Init: KLT 47.631px average disparity.
[ INFO] [1557453461.423514367]: Init: KLT tracked 145 features
[ INFO] [1557453461.423637194]: Init: KLT 49.2348px average disparity.
[ INFO] [1557453461.453477831]: Init: KLT tracked 145 features
[ INFO] [1557453461.453561439]: Init: KLT 50.8822px average disparity.
[ INFO] [1557453461.556009515]: Init: Homography RANSAC 141 inliers.
[svo-1] process has died [pid 4565, exit code -11, cmd /home/znkz/slam/svo-ros/rosbuild_ws/devel/lib/svo_ros/vo __name:=svo __log:=/home/znkz/.ros/log/df5e77a6-72c3-11e9-93d3-488ad21077bd/svo-1.log].
log file: /home/znkz/.ros/log/df5e77a6-72c3-11e9-93d3-488ad21077bd/svo-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done