BUG(跑SLAM14-ch9)

Q1:OpenCV问题

OpenCV Error: Parsing error (../rgbd_dataset_freiburg1_xyz(0): Valid XML should start with '') in icvXMLParse, file /home/junwang/下载/opencv-3.1.0/modules/core/src/persistence.cpp, line 2220 
terminate called after throwing an instance of 'cv::Exception' 
  what():  /home/junwang/下载/opencv-3.1.0/modules/core/src/persistence.cpp:2220: error: (-212) ../rgbd_dataset_freiburg1_xyz(0): Valid XML should start with '' in function icvXMLParse 
已放弃 (核心已转储)

解决方法：卸载了之前装的所有版本的OpenCV，新装了OpenCV3.1.0并在此次编译中编译上了VTK.

Q2

 CMake Error in src/CMakeLists.txt:
  Imported target "opencv_viz" includes non-existent path

    "/usr/local/include/opencv"
  
　* The path was deleted, renamed, or moved to another location.

  * An install or uninstall procedure did not complete successfully.

  * The installation package was faulty and references files it does not
  provide.

解决方法：将/usr/local/opencv310/share/OpenCV路径下的OpenCVConfig.cmake文件中第113行的CACHE去掉，如下

# Extract the directory where *this* file has been installed (determined at cmake run-time)

get_filename_component(OpenCV_CONFIG_PATH "${CMAKE_CURRENT_LIST_FILE}" PATH CACHE)//改前

get_filename_component(OpenCV_CONFIG_PATH "${CMAKE_CURRENT_LIST_FILE}" PATH )//改后

原因：如果加CACHE，OpenCV的路径就会定位到/usr/。不加CACHE就会正确定位。不知道是为什么。原则上说CACHE只是把路径加到缓存里面，可以提高效率，应该不会出这个问题。

参考：https://blog.csdn.net/bluewhalerobot/article/details/73658248