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  • [Study notes] To programing RGBD-SLAM together from Gaoxiang

    Solve CMake Error in CMakeLists.txt (FIND_PAKAGE):

    CMake Error at src/CMakeLists.txt:5 (FIND_PACKAGE):
      By not providing "FindPCL.cmake" in CMAKE_MODULE_PATH this project has
      asked CMake to find a package configuration file provided by "PCL", but
      CMake did not find one.
    
      Could not find a package configuration file provided by "PCL" with any of
      the following names:
    
        PCLConfig.cmake
        pcl-config.cmake
    
      Add the installation prefix of "PCL" to CMAKE_PREFIX_PATH or set "PCL_DIR"
      to a directory containing one of the above files.  If "PCL" provides a
      separate development package or SDK, be sure it has been installed.
    
    
    -- Configuring incomplete, errors occurred!
    
    • To help cmake find PCLConfig.cmake adding this line if you have installed ROS Kinetic:

    set(PCL_DIR "/usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake")

    before find_package(PCL 1.3 REQUIRED COMPONENTS common io)

    Or run loacate PCLConfig.cmake.


    Solve Complile Erorr

    .../rgbd-slam-tutorial-gx-master/part IV/src/slamBase.cpp: In function ‘void computeKeyPointsAndDesp(FRAME&, std::__cxx11::string, std::__cxx11::string)’:
    .../rgbd-slam-tutorial-gx-master/part IV/src/slamBase.cpp:63:17: error: ‘create’ is not a member of ‘cv::FeatureDetector {aka cv::Feature2D}’
         _detector = cv::FeatureDetector::create( detector.c_str() );
                     ^
    .../rgbd-slam-tutorial-gx-master/part IV/src/slamBase.cpp:64:19: error: ‘create’ is not a member of ‘cv::DescriptorExtractor {aka cv::Feature2D}’
         _descriptor = cv::DescriptorExtractor::create( descriptor.c_str() );
    
    

    Bug fixed: When adding another visualization of pcl::visualization::CloudViewer.

    [xcb] Unknown request in queue while dequeuing
    [xcb] Most likely this is a multi-threaded client and XInitThreads has not been called
    [xcb] Aborting, sorry about that.
    visualOdometry: ../../src/xcb_io.c:179: dequeue_pending_request: Assertion `!xcb_xlib_unknown_req_in_deq' failed.
    Aborted (core dumped)
    

    We can see Note in The CloudViewer of pcl documents

    The CloudViewer class is NOT meant to be used in multi-threaded applications! Please check the documentation on :pcl:PCLVisualizer<pcl::visualization::PCLVisualizer> or read the PCLVisualizer tutorial for thread safe visualization.

    The Viewer window does not be shutdown in visualOdometry.cpp.

    To fix this bug: Add two line between } and pcl::io::savePCDFile(...).


    References:
    PCL Documents: Using PCL in your own project

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  • 原文地址:https://www.cnblogs.com/linweilin/p/9904011.html
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