工程问题--一块儿学RGBD_SLAM工程问题汇总

一块儿学RGBD_SLAM工程问题汇总

在学习RGBD_SLAM的时候，由于本身用的是Ubuntu16.04，因此会遇到不少原文中没有遇到过的问题

这里进行汇总。

 

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.

 

解决方法有两种：

1.

1 sudo apt-get install libproj-dev

而后在src中的CMakeLists.txt中添加这句

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

 

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 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!

出现这句话的主要缘由是咱们执行bin/generate_pointcloud的时候，咱们所处的位置是在slam这个文件夹下

在代码中读取图像那一行是"./data/rgb.png"，那么在执行那个二进制文件时会去slam/data/rgb.png下寻找

可是，若是咱们的目录结构不是这样的，那就会报这个错误。

解决方法：

依据本身的目录结构编写路径。"./"表示当前目录下，"../"表示当前目录的上一级目录下。

个人data文件夹放在src/中，那么我应该改成"/src/data/rbg.png"。

 

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参考文章飞机票：

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

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