關于RGBDSLAMV2學習、安裝、調試過程

Step１：https://github.com/felixendres/rgbdslam_v2/wiki/Instructions-for-Compiling-Rgbdslam-(V2)-on-a-Fresh-Ubuntu-16.04-Install-(Ros-Kinetic)-in-Virtualbox

照著這個instructions安裝好 rgbdslamv2，并且在安裝的過程中，后續要用的依賴也已經安裝好了

Step２：https://www.twblogs.net/a/5c542fdcbd9eee06ee218f6c/zh-cn

照著高翔的指導一步一步的學習，存在的大部分問題在上面的博客中可以解決

備注：

關于g20部分，代碼提示c++11不兼容等諸多問題，在src目錄下添加支持c++11即可

include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
elseif(COMPILER_SUPPORTS_CXX0X)set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
else()message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()if(COMMAND cmake_policy)cmake_policy(SET CMP0003 NEW)
endif(COMMAND cmake_policy)

step3:關于g2o_viewer提示core dump段錯誤問題

這是因為編譯時qt4? qt5不兼容問題，解決辦法,(qt5 版本)

• １　sudo apt-get install libqglviewer-dev
• ２　qmake -v 檢查是不是qt5
• ３　找到g2o源碼目錄的cmake_module目錄，打開FindQGViewer.cmake
• 4　把前幾行關于qt4的部分注釋掉添加

  # Need to find both Qt{4,5} and QGLViewer if the QQL support is to be built
  #FIND_PACKAGE(Qt4 COMPONENTS QtCore QtXml QtOpenGL QtGui)
  #IF(NOT Qt4_FOUND)
  #    FIND_PACKAGE(Qt5 QUIET COMPONENTS Core Xml OpenGL Gui Widgets)
  #    IF(NOT Qt4_FOUND AND NOT Qt5_FOUND)
  #        MESSAGE("Qt{4,5} not found. Install it and set Qt{4,5}_DIR accordingly")
  #        IF (WIN32)
  #            MESSAGE("  In Windows, Qt5_DIR should be something like C:/Qt/5.4/msvc2013_64_opengl/lib/cmake/Qt5")
  #        ENDIF()
  #    ENDIF()
  #ENDIF()
  FIND_PACKAGE(Qt5 COMPONENTS Core Xml OpenGL Gui Widgets)
  IF(NOT Qt5_FOUND)MESSAGE("Qt5 not found. Install it and set Qt5_DIR accordingly")IF (WIN32)MESSAGE("  In Windows, Qt5_DIR should be something like C:/Qt/5.4/msvc2013_64_opengl/lib/cmake/Qt5")ENDIF()
  ENDIF()

  關于find_library(QGLVIEWER_LIBRARY_RELEASE　　和　find_library(QGLVIEWER_LIBRARY_DEBUG的部分　改成一下內容

  find_library(QGLVIEWER_LIBRARY_RELEASE#NAMES qglviewer-qt4 qglviewer QGLViewer QGLViewer2#NAMES qglviewer-qt5  QGLViewer-qt5#NAMES qglviewer-qt4 QGLViewer-qt4 qglviewer QGLViewer QGLViewer2NAMES qglviewer QGLViewerPATHS /usr/lib/usr/local/lib/opt/local/lib/usr/lib/x86_64-linux-gnu/sw/libENV QGLVIEWERROOTENV LD_LIBRARY_PATHENV LIBRARY_PATHPATH_SUFFIXES QGLViewer QGLViewer/release
  )
  find_library(QGLVIEWER_LIBRARY_DEBUG#NAMES dqglviewer dQGLViewer dQGLViewer2 QGLViewerd2NAMES dqglviewer dQGLViewer dQGLViewer QGLViewerd2PATHS /usr/lib/usr/local/lib/opt/local/lib/usr/lib/x86_64-linux-gnu/sw/libENV QGLVIEWERROOTENV LD_LIBRARY_PATHENV LIBRARY_PATH#PATH_SUFFIXES QGLViewer QGLViewer/releasePATH_SUFFIXES QGLViewer QGLViewer/debug
  )

  ?

• ５　返回g2o/build ,執行

  cmake ..
  make -j4
  make install

  ?

• 6　運行g2o_viewer　便成功了

?

工作環境:ubuntu16.04