EAO-SLAM安装

最新推荐文章于 2025-01-16 17:13:12 发布

V-SLAM

最新推荐文章于 2025-01-16 17:13:12 发布

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分类专栏： V-SLAM 文章标签： c++

本文链接：https://blog.csdn.net/weixin_43166819/article/details/121410901

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本文解决了CMake在配置RapidJSON和OpenCV过程中出现的问题，包括找不到配置文件及成员函数错误等，并提供了多版本OpenCV共存时的解决方案。

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Error：

CMake Warning at CMakeLists.txt:189 (FIND_PACKAGE):
  By not providing "FindRapidJSON.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "RapidJSON", but CMake did not find one.

  Could not find a package configuration file provided by "RapidJSON" with
  any of the following names:

    RapidJSONConfig.cmake
    rapidjson-config.cmake

  Add the installation prefix of "RapidJSON" to CMAKE_PREFIX_PATH or set
  "RapidJSON_DIR" to a directory containing one of the above files.  If
  "RapidJSON" provides a separate development package or SDK, be sure it has
  been installed.

Ref 安装RapidJSON，单独安装Line3Dpp

/home/k402/EAO-SLAM/Thirdparty/Line3Dpp/line3D.cc: In static member function ‘static void L3DPP::Line3D::undistortImage(const cv::Mat&, cv::Mat&, const Vector3d&, const Vector2d&, const Matrix3d&)’:
/home/k402/EAO-SLAM/Thirdparty/Line3Dpp/line3D.cc:106:9: error: ‘initUndistortRectifyMap’ is not a member of ‘cv’
         cv::initUndistortRectifyMap(cvK,cvDistCoeffs,I,cvK,cv::Size(inImg.cols,
         ^
/home/k402/EAO-SLAM/Thirdparty/Line3Dpp/line3D.cc: In member function ‘L3DPP::DataArray<float4>* L3DPP::Line3D::detectLineSegments(unsigned int, const cv::Mat&)’:
/home/k402/EAO-SLAM/Thirdparty/Line3Dpp/line3D.cc:256:40: error: ‘CV_RGB2GRAY’ was not declared in this scope
             cv::cvtColor(image,imgGray,CV_RGB2GRAY);
                                        ^
CMakeFiles/line3Dpp.dir/build.make:62: recipe for target 'CMakeFiles/line3Dpp.dir/line3D.cc.o' failed

当opencv多版本共存，指定路径，在CmakeList.txt中加入：

find_package(OpenCV 3.4.1 REQUIRED HINTS /usr/local/opencv3)

Error:段错误，跑不完整

ref：github

你可以试试将所有 CMakeLists.txt （包括第三方库）中的 -march=native 删掉，重新编译试试。

自制数据集

GitHub yolo_batch
报错参考：博客