一起学RGBD_SLAM工程问题汇总
在学习RGBD_SLAM的时候，因为自己用的是Ubuntu16.04，所以会遇到很多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
然后在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
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!
出现这句话的主要原因是我们执行bin/generate_pointcloud的时候，我们所处的位置是在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
但是，如果我们的目录结构不是这样的，那就会报这个错误。
解决方法：
依据自己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。
我的data文件夹放在src/中，那么我应该改为"/src/data/rbg.png"。
参考文章飞机票：
https://github.com/CPFL/Autoware/issues/795
https://blog.csdn.net/u010918541/article/details/51043332