视觉SLAM十四讲ch5问题记录

1.rgbd

1.1 报错：编译执行make时报错(没有规则可制作目标“/usr/lib/libOpenNI.so)

Scanning dependencies of target joinMap
[ 50%] Building CXX object CMakeFiles/joinMap.dir/joinMap.o
make[2]: *** 没有规则可制作目标“/usr/lib/libOpenNI.so”，由“joinMap” 需求。 停止。
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/joinMap.dir/all' failed
make[1]: *** [CMakeFiles/joinMap.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

解决：这应该是未安装Pangolin或之前的安装损坏不能用了，可参考一下链接安装：

Ubuntu20.04安装Pangolin（视觉SLAM十四讲）-优快云博客

1.2 但如果之前在别的目录安装过，现在不能用了，再次安装Pangolin可能会报如下错误：

CMake Error: The current CMakeCache.txt directory /home/qh/Desktop/gaoxiang_code/slambook2/3rdparty/Pangolin/build/CMakeCache.txt is 
different than the directory /home/qh/Desktop/slambook/3rdparty/Pangolin/build where 
CMakeCache.txt was created. This may result in binaries being created in the wrong place. 
If you are not sure, reedit the CMakeCache.txt
CMake Error: The source "/home/qh/Desktop/gaoxiang_code/slambook2/3rdparty/Pangolin/CMakeLists.txt" 
does not match the source "/home/qh/Desktop/slambook/3rdparty/Pangolin/CMakeLists.txt" 
used to generate cache.  Re-run cmake with a different source directory.

这个问题涉及到CMake在构建项目时遇到的路径不一致问题。具体来说，CMake缓存文件（CMakeCache.txt）的当前目录与创建该缓存文件时所用的目录不一致，同时CMakeLists.txt文件的路径也不匹配。这通常发生在尝试在不同目录下复用或重新构建项目时，而没有正确清理或重新配置CMake环境。

解决：删掉原安装目录里的文件及现要安装目录下build文件夹的里文件，再重新安装Pangolin。

1.3 Pangolin安装后还可能报一大堆错（报错打印末尾段如下）

text<char, fmt::v8::detail::error_handler> > >&)’中：
joinMap.cpp:(.text._ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E17precision_adapterEESE_SE_SE_SG_[_ZN3fmt2v86detail15do_parse_arg_idIcRZNS1_15parse_precisionIcRNS1_13specs_checkerINS1_21dynamic_specs_handlerINS0_26basic_format_parse_contextIcNS1_13error_handlerEEEEEEEEEPKT_SE_SE_OT0_E17precision_adapterEESE_SE_SE_SG_]+0xb5)：对‘fmt::v8::detail::assert_fail(char const*, int, char const*)’未定义的引用
CMakeFiles/joinMap.dir/joinMap.o：在函数‘int fmt::v8::detail::get_dynamic_spec<fmt::v8::detail::width_checker, fmt::v8::basic_format_arg<fmt::v8::basic_format_context<fmt::v8::appender, char> >, fmt::v8::detail::error_handler>(fmt::v8::basic_format_arg<fmt::v8::basic_format_context<fmt::v8::appender, char> >, fmt::v8::detail::error_handler)’中：
joinMap.cpp:(.text._ZN3fmt2v86detail16get_dynamic_specINS1_13width_checkerENS0_16basic_format_argINS0_20basic_format_contextINS0_8appenderEcEEEENS1_13error_handlerEEEiT0_T1_[_ZN3fmt2v86detail16get_dynamic_specINS1_13width_checkerENS0_16basic_format_argINS0_20basic_format_contextINS0_8appenderEcEEEENS1_13error_handlerEEEiT0_T1_]+0x27e)：对‘fmt::v8::detail::error_handler::on_error(char const*)’未定义的引用
CMakeFiles/joinMap.dir/joinMap.o：在函数‘int fmt::v8::detail::get_dynamic_spec<fmt::v8::detail::precision_checker, fmt::v8::basic_format_arg<fmt::v8::basic_format_context<fmt::v8::appender, char> >, fmt::v8::detail::error_handler>(fmt::v8::basic_format_arg<fmt::v8::basic_format_context<fmt::v8::appender, char> >, fmt::v8::detail::error_handler)’中：
joinMap.cpp:(.text._ZN3fmt2v86detail16get_dynamic_specINS1_17precision_checkerENS0_16basic_format_argINS0_20basic_format_contextINS0_8appenderEcEEEENS1_13error_handlerEEEiT0_T1_[_ZN3fmt2v86detail16get_dynamic_specINS1_17precision_checkerENS0_16basic_format_argINS0_20basic_format_contextINS0_8appenderEcEEEENS1_13error_handlerEEEiT0_T1_]+0x27e)：对‘fmt::v8::detail::error_handler::on_error(char const*)’未定义的引用
CMakeFiles/joinMap.dir/joinMap.o：在函数‘void fmt::v8::detail::check_string_type_spec<fmt::v8::detail::error_handler>(fmt::v8::presentation_type, fmt::v8::detail::error_handler&&)’中：
joinMap.cpp:(.text._ZN3fmt2v86detail22check_string_type_specINS1_13error_handlerEEEvNS0_17presentation_typeEOT_[_ZN3fmt2v86detail22check_string_type_specINS1_13error_handlerEEEvNS0_17presentation_typeEOT_]+0x22)：对‘fmt::v8::detail::error_handler::on_error(char const*)’未定义的引用
CMakeFiles/joinMap.dir/joinMap.o：在函数‘unsigned long long fmt::v8::detail::width_checker<fmt::v8::detail::error_handler>::operator()<int, 0>(int)’中：
joinMap.cpp:(.text._ZN3fmt2v86detail13width_checkerINS1_13error_handlerEEclIiLi0EEEyT_[_ZN3fmt2v86detail13width_checkerINS1_13error_handlerEEclIiLi0EEEyT_]+0x2f)：对‘fmt::v8::detail::error_handler::on_error(char const*)’未定义的引用
CMakeFiles/joinMap.dir/joinMap.o：在函数‘unsigned long long fmt::v8::detail::width_checker<fmt::v8::detail::error_handler>::operator()<unsigned int, 0>(unsigned int)’中：
joinMap.cpp:(.text._ZN3fmt2v86detail13width_checkerINS1_13error_handlerEEclIjLi0EEEyT_[_ZN3fmt2v86detail13width_checkerINS1_13error_handlerEEclIjLi0EEEyT_]+0x2f)：对‘fmt::v8::detail::error_handler::on_error(char const*)’未定义的引用
CMakeFiles/joinMap.dir/joinMap.o:joinMap.cpp:(.text._ZN3fmt2v86detail13width_checkerINS1_13error_handlerEEclIxLi0EEEyT_[_ZN3fmt2v86detail13width_checkerINS1_13error_handlerEEclIxLi0EEEyT_]+0x32): 跟着更多未定义的参考到 fmt::v8::detail::error_handler::on_error(char const*)
collect2: error: ld returned 1 exit status
CMakeFiles/joinMap.dir/build.make:113: recipe for target 'joinMap' failed
make[2]: *** [joinMap] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/joinMap.dir/all' failed
make[1]: *** [CMakeFiles/joinMap.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

这应该是cmakelists文件没有写完整，改成如下代码：
参考自：Ubuntu20.04 18.04编译视觉SLAM十四讲slambook2/ch5/rgbd_ch5点云共有0个点-优快云博客

project(rgbd)
 
cmake_minimum_required(VERSION 3.10)
 
find_package(Sophus REQUIRED)
 
add_executable(joinMap joinMap.cpp)
 
include_directories(${Sophus_INCLUDE_DIRS})
 
#链接OpenCV库
 
find_package(OpenCV REQUIRED)
 
#添加头文件
 
include_directories( ${OpenCV-INCLUDE_DIRS})
 
target_link_libraries(joinMap ${OpenCV_LIBS} ${Pangolin_LIBRARIES})
 
 
find_package(Pangolin REQUIRED)
 
 
target_link_libraries(joinMap ${OpenCV_LIBS} ${Pangolin_LIBRARIES})
 
 
# Eigen
 
include_directories("/usr/local/include/eigen3")
 
target_link_libraries(joinMap ${Sophus_LIBRARIES} fmt)
 
 
#链接c++11
 
set(CMAKE_CXX_FLAGS "-std=c++11") 

rgbd程序运行成功记录：