GitHub - gaoxiang12/ORBSLAM2_with_pointcloud_map
编译代码，出现别人的缓存信息
接着发现opencv版本不对，真是麻烦
github.com
那就硬着头皮装吧，结果还是一样的报错
在ubuntu下编译opencv程序后，执行报下面到错误：
error while loading shared libraries: libopencv_core.so.2.4: cannot open shared object file: No such file or directory
解决方法：找到libopencv_开头到库的目录，在/usr/local/lib下面，在/etc/ld.so.conf.d/下面新建一个opencv.conf，里面写入/usr/local/lib，最后执行下sudo ldconfig -v即可。
结果发现，不是版本的问题，尴尬
(29条消息) 视觉slam十四讲中第十一章libopencv_core问题：_libopencv_core3.so.3.3-其它代码类资源-CSDN文库
没能够解决
运行rgbd数据集测试
RGB-D Example
TUM Dataset
- Download a sequence from http://vision.in.tum.de/data/datasets/rgbd-dataset/download and uncompress it.
- Associate RGB images and depth images using the python script associate.py. We already provide associations for some of the sequences in Examples/RGB-D/associations/. You can generate your own associations file executing:
python associate.py PATH_TO_SEQUENCE/rgb.txt PATH_TO_SEQUENCE/depth.txt > associations.txt
- Execute the following command. Change TUMX.yaml to TUM1.yaml,TUM2.yaml or TUM3.yaml for freiburg1, freiburg2 and freiburg3 sequences respectively. Change PATH_TO_SEQUENCE_FOLDERto the uncompressed sequence folder. Change ASSOCIATIONS_FILE to the path to the corresponding associations file.
./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUMX.yaml PATH_TO_SEQUENCE_FOLDER
ASSOCIATIONS_FILE
运行公开数据集
显然有报错了。
又回到这个错上边
XDG_RUNTIME_DIR not set in the environment.
omg
加上这句话
export DISPLAY=127.0.0.1:0
貌似解决没有出现这句话了，但是还是闪退
让我百度百度瞧瞧
(rgbd_tum:3575): dconf-CRITICAL **: unable to create file '/usr/lib/dconf/user'
猜测可能是权限不够
sudo chmod 777 rgbd_tum
sudo ./rgbd_tum ../Vocabulary/ORBvoc.txt ../Examples/RGB-D/TUM1.yaml ~/Desktop/ORBSLAM2_with_pointcloud_map/data_set/rgbd_dataset_freiburg1_xyz ~/Desktop/ORBSLAM2_with_pointcloud_map/data_set/associations.txt
还是不行
就是没法弹窗现实点云
设置环境变量后，发现能够谈出来pcl窗口了。
备注：查找环境变量的代码
export -p | grep XDG_RUNTIME_DIR
env | grep XDG_RUNTIME_DIR
18.04 - Gstreamer error: XDG_RUNTIME_DIR not set in the environment - Ask Ubuntu
也是没有用
打开原版软件，视频没那么短暂的
sudo ./rgbd_tum ../../Vocabulary/ORBvoc.txt ../../Examples/RGB-D/TUM1.yaml ~/Desktop/ORBSLAM2_with_pointcloud_map/data_set/rgbd_dataset_freiburg1_xyz ~/Desktop/ORBSLAM2_with_pointcloud_map/data_set/associations.txt
好吧，没能够解决，暂时放着
