工程問題--一塊兒學RGBD_SLAM工程問題彙總

一塊兒學RGBD_SLAM工程問題彙總

在學習RGBD_SLAM的時候，由於本身用的是Ubuntu16.04，因此會遇到不少原文中沒有遇到過的問題

這裏進行彙總。

 

一. VTK Not Found

 

 1 -- Found OpenNI2: /usr/lib/libOpenNI2.so  2 ** WARNING ** io features related to pcap will be disabled  3 ** WARNING ** io features related to png will be disabled  4 -- The imported target "vtkRenderingPythonTkWidgets" references the file
 5    "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
 6 but this file does not exist. Possible reasons include:  7 * The file was deleted, renamed, or moved to another location.  8 * An install or uninstall procedure did not complete successfully.  9 * The installation package was faulty and contained 10    " /usr/lib/cmake/vtk-6.2/VTKTargets.cmake"
11     but not all the files it references.

 

解決方法有兩種：

1.

1 sudo apt-get install libproj-dev

而後在src中的CMakeLists.txt中添加這句

1 list (REMOVE_ITEM PCL_LIBRARIES "vtkproj4")

2.

1 sudo ln -s /usr/lib/python2.7/dist-packages/vtk/libvtkRenderingPythonTkWidgets.x86_64-linux-gnu.so /usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so

 

---

 二. [pcl::PCDWriter::writeASCII] Input point cloud has no data

1 terminate called after throwing an instance of 'pcl::IOException'
2 what():  : [pcl::PCDWriter::writeASCII] Input point cloud has no data!

出現這句話的主要緣由是咱們執行bin/generate_pointcloud的時候，咱們所處的位置是在slam這個文件夾下

在代碼中讀取圖像那一行是"./data/rgb.png"，那麼在執行那個二進制文件時會去slam/data/rgb.png下尋找

可是，若是咱們的目錄結構不是這樣的，那就會報這個錯誤。

解決方法：

依據本身的目錄結構編寫路徑。"./"表示當前目錄下，"../"表示當前目錄的上一級目錄下。

個人data文件夾放在src/中，那麼我應該改成"/src/data/rbg.png"。

 

---

 

 

參考文章飛機票：

https://github.com/CPFL/Autoware/issues/795

https://blog.csdn.net/u010918541/article/details/51043332