实测 | Stereo PL-SLAM安装运行以及错误解决

• Basics

sudo apt install build-essential pkg-config libboost-dev \
libsuitesparse-dev libeigen3-dev libyaml-cpp-dev

• OpenCV 3.x.x

略。

• G2O

• MRPT/mrpt: The Mobile Robot Programming Toolkit

  • recommend version: commit id 0c3d605 (0c3d605c3cbf5f2ffb8137089e43ebdae5a55de3)

    git clone https://github.com/MRPT/mrpt.git
    git branch cg_0c3d605 0c3d605c3cbf5f2ffb8137089e43ebdae5a55de3
    git checkout cg_0c3d605
    
    # install dependencies
    sudo apt install libdc1394-22-dev libjpeg-dev libftdi-dev freeglut3-dev \
    libwxgtk3.0-dev zlib1g-dev libusb-1.0-0-dev libudev-dev libfreenect-dev \
    libavformat-dev libswscale-dev libassimp-dev libgtest-dev libpcap-dev
    
    # build & install
    mkdir build & cd build
    cmake .. & make -j4
    sudo make install
    

     

Note: it’s better mrpt, stvo-pl and pl-slam are in the same directory

Build

Build pl-slam

git clone https://github.com/rubengooj/pl-slam.git
chmod +x build.sh
./build.sh

Errors

• Q: /usr/bin/ld: cannot find -lg2o_ext_csparse
  A: sudo ln -sv libg2o_csparse_extension.so libg2o_ext_csparse.so

Run

Dataset

• Kitti Dataset: data_odometry_gray (~22G)
• Kitti data_odometry_gray
   

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