《视觉SLAM十四讲》第二版源码slambook2编译调试

1. slambook2-master/ch2

编译正常，log如下：

slambook2-master/ch2# mkdir build && cd build && cmake .. && make -j16

CMake Deprecation Warning at CMakeLists.txt:2 (cmake_minimum_required):

  Compatibility with CMake < 2.8.12 will be removed from a future version of

  CMake.

  Update the VERSION argument value or use a ... suffix to tell

  CMake that the project does not need compatibility with older versions.

-- The C compiler identification is GNU 9.4.0

-- The CXX compiler identification is GNU 9.4.0

-- Detecting C compiler ABI info

-- Detecting C compiler ABI info - done

-- Check for working C compiler: /usr/bin/cc - skipped

-- Detecting C compile features

-- Detecting C compile features - done

-- Detecting CXX compiler ABI info

-- Detecting CXX compiler ABI info - done

-- Check for working CXX compiler: /usr/bin/c++ - skipped

-- Detecting CXX compile features

-- Detecting CXX compile features - done

-- Configuring done

-- Generating done

-- Build files have been written to: /mnt/d/slam14/slambook2-master/ch2/build

[ 37%] Building CXX object CMakeFiles/hello_shared.dir/libHelloSLAM.cpp.o

[ 37%] Building CXX object CMakeFiles/helloSLAM.dir/helloSLAM.cpp.o

[ 37%] Building CXX object CMakeFiles/hello.dir/libHelloSLAM.cpp.o

[ 75%] Linking CXX shared library libhello_shared.so

[ 75%] Linking CXX static library libhello.a

[ 75%] Linking CXX executable helloSLAM

[ 75%] Built target hello

[ 75%] Built target hello_shared

[ 75%] Built target helloSLAM

[ 87%] Building CXX object CMakeFiles/useHello.dir/useHello.cpp.o

[100%] Linking CXX executable useHello

[100%] Built target useHello

slambook2-master/ch2/build# ./useHello

Hello SLAM

slambook2-master/ch2/build# ./helloSLAM

Hello SLAM!

1. slambook2-master/ch3

1.编译问题

[ 50%] Building CXX object useEigen/CMakeFiles/eigenMatrix.dir/eigenMatrix.cpp.o

In file included from /usr/local/include/pangolin/utils/signal_slot.h:3,

                 from /usr/local/include/pangolin/windowing/window.h:35,

                 from /usr/local/include/pangolin/display/display.h:34,

                 from /usr/local/include/pangolin/pangolin.h:38,

                 from /mnt/d/slam14/slambook2-master/ch3/examples/plotTrajectory.cpp:1:

/usr/local/include/sigslot/signal.hpp:109:79: error: ‘decay_t’ is not a member of ‘std’; did you mean ‘decay’?

  109 | constexpr bool is_weak_ptr_compatible_v = detail::is_weak_ptr_compatible>::value;

1.解决方案

将CMakeLists中set(CMAKE_CXX_FLAGS "-std=c++11")注释掉即可

#set(CMAKE_CXX_FLAGS "-std=c++11")

不过编译后运行./visualizeGeometry会有如下报错：

2.编译问题

[ 90%] Building CXX object visualizeGeometry/CMakeFiles/visualizeGeometry.dir/visualizeGeometry.cpp.o

In file included from /usr/local/include/pangolin/utils/signal_slot.h:3,

                 from /usr/local/include/pangolin/windowing/window.h:35,

                 from /usr/local/include/pangolin/display/display.h:34,

                 from /usr/local/include/pangolin/pangolin.h:38,

                 from /mnt/d/slam14/slambook2-master/ch3/visualizeGeometry/visualizeGeometry.cpp:11:

/usr/local/include/sigslot/signal.hpp:109:79: error: ‘decay_t’ is not a member of ‘std’; did you mean ‘decay’?

  109 | constexpr bool is_weak_ptr_compatible_v = detail::is_weak_ptr_compatible>::value;

2.解决方案

将CMakeLists中set(CMAKE_CXX_FLAGS "-std=c++11")注释掉即可

#set(CMAKE_CXX_FLAGS "-std=c++11")

3.编译问题

slambook2-master/ch3/build/visualizeGeometry# ./visualizeGeometry

terminate called after throwing an instance of 'std::runtime_error'

  what():  Pangolin X11: Failed to open X display

Aborted

3.解决方案

//TODO有待解决，解决其他问题后一并解决

应该是由于wsl没有安装UI界面，导致编译的程序调用界面显示时不能显示所致。

4.编译问题

slambook2-master/ch3/build/examples# ./plotTrajectory

cannot find trajectory file at ./examples/trajectory.txt

4.解决方案

//TODO有待解决

1. slambook2-master/ch4

1.编译问题

[100%] Linking CXX executable trajectoryError

/usr/bin/ld: CMakeFiles/trajectoryError.dir/trajectoryError.cpp.o: in function `std::make_unsigned::type fmt::v8::detail::to_unsigned(int)':

trajectoryError.cpp:(.text._ZN3fmt2v86detail11to_unsignedIiEENSt13make_unsignedIT_E4typeES4_[_ZN3fmt2v86detail11to_unsignedIiEENSt13make_unsignedIT_E4typeES4_]+0x23): undefined reference to `fmt::v8::detail::assert_fail(char const*, int, char const*)'

1.解决方案

没有链接fmt库，链接上fmt 库就没问题了，将CMakeLists.txt中：

target_link_libraries(useSophus Sophus::Sophus)改为

target_link_libraries(useSophus Sophus::Sophus fmt)

2.编译问题

[ 50%] Linking CXX executable trajectoryError

/usr/bin/ld: CMakeFiles/trajectoryError.dir/trajectoryError.cpp.o: in function `std::make_unsigned::type fmt::v8::detail::to_unsigned(int)':

trajectoryError.cpp:(.text._ZN3fmt2v86detail11to_unsignedIiEENSt13make_unsignedIT_E4typeES4_[_ZN3fmt2v86detail11to_unsignedIiEENSt13make_unsignedIT_E4typeES4_]+0x23): undefined reference to `fmt::v8::detail::assert_fail(char const*, int, char const*)'

2.解决方案

没有链接fmt库，链接上fmt 库就没问题了，将CMakeLists.txt中：

target_link_libraries(trajectoryError ${Pangolin_LIBRARIES} ${FMT_LIBRARIES})改为

target_link_libraries(trajectoryError ${Pangolin_LIBRARIES} ${FMT_LIBRARIES} fmt)

3.编译问题

slambook2-master/ch4/build/example# ./trajectoryError

trajectory ./example/groundtruth.txt not found.

trajectory ./example/estimated.txt not found.

trajectoryError: /mnt/d/slam14/slambook2-master/ch4/example/trajectoryError.cpp:22: int main(int, char**): Assertion `!groundtruth.empty() && !estimated.empty()' failed.

Aborted

3.解决方案

//TODO有待解决

1. slambook2-master/ch5

1.编译问题

[ 75%] Linking CXX executable undistortImage

In file included from /usr/local/include/pangolin/utils/signal_slot.h:3,

                 from /usr/local/include/pangolin/windowing/window.h:35,

                 from /usr/local/include/pangolin/display/display.h:34,

                 from /usr/local/include/pangolin/pangolin.h:38,

                 from /mnt/d/slam14/slambook2-master/ch5/stereo/stereoVision.cpp:5:

/usr/local/include/sigslot/signal.hpp:109:79: error: ‘decay_t’ is not a member of ‘std’; did you mean ‘decay’?

  109 | constexpr bool is_weak_ptr_compatible_v = detail::is_weak_ptr_compatible>::value;

1.解决方案

将CMakeLists中set(CMAKE_CXX_FLAGS "-std=c++11")注释掉即可

#set(CMAKE_CXX_FLAGS "-std=c++11")

2.编译问题

[100%] Linking CXX executable joinMap

/usr/bin/ld: CMakeFiles/joinMap.dir/joinMap.cpp.o: in function `unsigned long long fmt::v8::detail::width_checker::operator()(float) [clone .isra.0]':

joinMap.cpp:(.text+0xe): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'

2.解决方案

没有链接fmt库，链接上fmt 库就没问题了，将slambook2-master/ch5/rgbd/CMakeLists.txt中：

target_link_libraries(joinMap ${OpenCV_LIBS} ${Pangolin_LIBRARIES} )改为

target_link_libraries(joinMap ${OpenCV_LIBS} ${Pangolin_LIBRARIES} fmt)

3.编译问题

（1）slambook2-master/ch5/build/imageBasics# ./imageBasics

terminate called after throwing an instance of 'std::logic_error'

  what():  basic_string::_M_construct null not valid

Aborted

（2）slambook2-master/ch5/build/imageBasics# ./undistortImage

[ WARN:[email protected]] global /mnt/d/slam14/wsl_libs/opencv-4.x/modules/imgcodecs/src/loadsave.cpp (239) findDecoder imread_('./distorted.png'): can't open/read file: check file path/integrity

terminate called after throwing an instance of 'cv::Exception'

  what():  OpenCV(4.5.5-dev) /mnt/d/slam14/wsl_libs/opencv-4.x/modules/highgui/src/window.cpp:1000: error: (-215:Assertion failed) size.width>0 && size.height>0 in function 'imshow'

Aborted

（3）slambook2-master/ch5/build/rgbd# ./joinMap

请在有pose.txt的目录下运行此程序

（4）slambook2-master/ch5/build/stereo# ./stereoVision

[ WARN:[email protected]] global /mnt/d/slam14/wsl_libs/opencv-4.x/modules/imgcodecs/src/loadsave.cpp (239) findDecoder imread_('./left.png'): can't open/read file: check file path/integrity

[ WARN:[email protected]] global /mnt/d/slam14/wsl_libs/opencv-4.x/modules/imgcodecs/src/loadsave.cpp (239) findDecoder imread_('./right.png'): can't open/read file: check file path/integrity

terminate called after throwing an instance of 'cv::Exception'

  what():  OpenCV(4.5.5-dev) /mnt/d/slam14/wsl_libs/opencv-4.x/modules/imgproc/src/median_blur.dispatch.cpp:283: error: (-215:Assertion failed) !_src0.empty() in function 'medianBlur'

Aborted

3.解决方案

（1）将编译生成的imageBasics拷贝到imageBasics源码目录下然后运行./imageBasics结果如下：

slambook2-master/ch5/imageBasics# ./imageBasics

terminate called after throwing an instance of 'std::logic_error'

  what():  basic_string::_M_construct null not valid

Aborted

（2）将编译生成的undistortImage拷贝到imageBasics源码目录下然后运行./undistortImage结果如下：

slambook2-master/ch5/imageBasics# ./undistortImage

terminate called after throwing an instance of 'cv::Exception'

  what():  OpenCV(4.5.5-dev) /mnt/d/slam14/wsl_libs/opencv-4.x/modules/highgui/src/window.cpp:1268: error: (-2:Unspecified error) The function is not implemented. Rebuild the library with Windows, GTK+ 2.x or Cocoa support. If you are on Ubuntu or Debian, install libgtk2.0-dev and pkg-config, then re-run cmake or configure script in function 'cvShowImage'

Aborted

（3）将编译生成的joinMap拷贝到rgbd源码目录下然后运行./joinMap如下：

slambook2-master/ch5/rgbd# ./joinMap

转换图像中: 1

转换图像中: 2

转换图像中: 3

转换图像中: 4

转换图像中: 5

点云共有1081843个点.

terminate called after throwing an instance of 'std::runtime_error'

  what():  Pangolin X11: Failed to open X display

Aborted

（4）将编译生成的stereoVision拷贝到stereo源码目录下然后运行./stereoVision结果如下：

slambook2-master/ch5/stereo# ./stereoVision

terminate called after throwing an instance of 'cv::Exception'

  what():  OpenCV(4.5.5-dev) /mnt/d/slam14/wsl_libs/opencv-4.x/modules/highgui/src/window.cpp:1268: error: (-2:Unspecified error) The function is not implemented. Rebuild the library with Windows, GTK+ 2.x or Cocoa support. If you are on Ubuntu or Debian, install libgtk2.0-dev and pkg-config, then re-run cmake or configure script in function 'cvShowImage'

Aborted

（1）（2）（4）结果

//TODO有待解决，解决其他问题后一并解决

应该是由于wsl没有安装UI界面，导致编译的程序调用界面显示时不能显示所致。

1. slambook2-master/ch6

编译正常，log如下：

slambook2-master/ch6# mkdir build && cd build && cmake .. && make -j16

……

[ 66%] Linking CXX executable ceresCurveFitting

[ 66%] Built target ceresCurveFitting

[ 83%] Linking CXX executable gaussNewton

[ 83%] Built target gaussNewton

[100%] Linking CXX executable g2oCurveFitting

[100%] Built target g2oCurveFitting

slambook2-master/ch6/build# ls

CMakeCache.txt  CMakeFiles  Makefile  ceresCurveFitting  cmake_install.cmake  g2oCurveFitting  gaussNewton

slambook2-master/ch6/build# ./ceresCurveFitting

iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time

   0  1.597873e+06    0.00e+00    3.52e+06   0.00e+00   0.00e+00  1.00e+04        0    3.41e-05    1.81e-03

   1  1.884440e+05    1.41e+06    4.86e+05   9.88e-01   8.82e-01  1.81e+04        1    8.89e-04    2.76e-03

   2  1.784821e+04    1.71e+05    6.78e+04   9.89e-01   9.06e-01  3.87e+04        1    1.72e-05    2.80e-03

   3  1.099631e+03    1.67e+04    8.58e+03   1.10e+00   9.41e-01  1.16e+05        1    1.41e-05    2.83e-03

   4  8.784938e+01    1.01e+03    6.53e+02   1.51e+00   9.67e-01  3.48e+05        1    1.41e-05    2.85e-03

   5  5.141230e+01    3.64e+01    2.72e+01   1.13e+00   9.90e-01  1.05e+06        1    1.41e-05    2.88e-03

   6  5.096862e+01    4.44e-01    4.27e-01   1.89e-01   9.98e-01  3.14e+06        1    1.29e-05    2.90e-03

   7  5.096851e+01    1.10e-04    9.53e-04   2.84e-03   9.99e-01  9.41e+06        1    1.31e-05    2.92e-03

solve time cost = 0.00331742 seconds.

Ceres Solver Report: Iterations: 8, Initial cost: 1.597873e+06, Final cost: 5.096851e+01, Termination: CONVERGENCE

estimated a,b,c = 0.890908 2.1719 0.943628

slambook2-master/ch6/build# ./g2oCurveFitting

start optimization

iteration= 0     chi2= 376785.128234     time= 9.859e-06         cumTime= 9.859e-06      edges= 100      schur= 0

iteration= 1     chi2= 35673.566018      time= 4.188e-06         cumTime= 1.4047e-05     edges= 100      schur= 0

iteration= 2     chi2= 2195.012304       time= 3.737e-06         cumTime= 1.7784e-05     edges= 100      schur= 0

iteration= 3     chi2= 174.853126        time= 3.707e-06         cumTime= 2.1491e-05     edges= 100      schur= 0

iteration= 4     chi2= 102.779695        time= 3.627e-06         cumTime= 2.5118e-05     edges= 100      schur= 0

iteration= 5     chi2= 101.937194        time= 3.657e-06         cumTime= 2.8775e-05     edges= 100      schur= 0

iteration= 6     chi2= 101.937020        time= 3.267e-06         cumTime= 3.2042e-05     edges= 100      schur= 0

iteration= 7     chi2= 101.937020        time= 3.586e-06         cumTime= 3.5628e-05     edges= 100      schur= 0

iteration= 8     chi2= 101.937020        time= 3.216e-06         cumTime= 3.8844e-05     edges= 100      schur= 0

iteration= 9     chi2= 101.937020        time= 3.256e-06         cumTime= 4.21e-05       edges= 100      schur= 0

solve time cost = 0.000277812 seconds.

estimated model: 0.890912   2.1719 0.943629

slambook2-master/ch6/build# ./gaussNewton

total cost: 3.19575e+06,                update: 0.0455771  0.078164 -0.985329           estimated params: 2.04558,-0.921836,4.01467

total cost: 376785,             update:  0.065762  0.224972 -0.962521           estimated params: 2.11134,-0.696864,3.05215

total cost: 35673.6,            update: -0.0670241   0.617616  -0.907497                estimated params: 2.04432,-0.0792484,2.14465

total cost: 2195.01,            update: -0.522767   1.19192 -0.756452           estimated params: 1.52155,1.11267,1.3882

total cost: 174.853,            update: -0.537502  0.909933 -0.386395           estimated params: 0.984045,2.0226,1.00181

total cost: 102.78,             update: -0.0919666   0.147331 -0.0573675                estimated params: 0.892079,2.16994,0.944438

total cost: 101.937,            update: -0.00117081  0.00196749 -0.00081055             estimated params: 0.890908,2.1719,0.943628

total cost: 101.937,            update:   3.4312e-06 -4.28555e-06  1.08348e-06          estimated params: 0.890912,2.1719,0.943629

total cost: 101.937,            update: -2.01204e-08  2.68928e-08 -7.86602e-09          estimated params: 0.890912,2.1719,0.943629

cost: 101.937>= last cost: 101.937, break.

solve time cost = 0.000226313 seconds.

estimated abc = 0.890912, 2.1719, 0.943629

1. slambook2-master/ch7

1.编译问题

CMake Error at CMakeLists.txt:9 (find_package):

  Could not find a configuration file for package "OpenCV" that is compatible

  with requested version "3".

  The following configuration files were considered but not accepted:

    /usr/local/lib/cmake/opencv4/OpenCVConfig.cmake, version: 4.5.5

1.解决方案

因为按照了opencv4.5.5版本不是opencv3.x.x版本，将CMakeLists.txt中：

find_package( OpenCV 3 REQUIRED )

改为：

find_package( OpenCV REQUIRED )

2.编译问题

[ 50%] Building CXX object CMakeFiles/pose_estimation_3d3d.dir/pose_estimation_3d3d.cpp.o

/mnt/d/slam14/slambook2-master/ch7/pose_estimation_2d2d.cpp: In function ‘int main(int, char**)’:

/mnt/d/slam14/slambook2-master/ch7/pose_estimation_2d2d.cpp:36:31: error: ‘CV_LOAD_IMAGE_COLOR’ was not declared in this scope

   36 |   Mat img_1 = imread(argv[1], CV_LOAD_IMAGE_COLOR);

2.解决方案

在源码orb_cv.cpp、triangulation.cpp、pose_estimation_2d2d.cpp、pose_estimation_3d2d.cpp、pose_estimation_3d3d.cpp中添加头文件

#include

#参考链接

SLAM十四讲，第七章程序ch7报错， error: ‘CV_LOAD_IMAGE_COLOR’ was not declared in this scope_XXX的博客-CSDN博客_cv_load_image_color

3.编译问题

[ 75%] Building CXX object CMakeFiles/pose_estimation_3d2d.dir/pose_estimation_3d2d.cpp.o

/mnt/d/slam14/slambook2-master/ch7/pose_estimation_2d2d.cpp: In function ‘void pose_estimation_2d2d(std::vector, std::vector, std::vector, cv::Mat&, cv::Mat&)’:

/mnt/d/slam14/slambook2-master/ch7/pose_estimation_2d2d.cpp:144:61: error: ‘CV_FM_8POINT’ was not declared in this scope

  144 |   fundamental_matrix = findFundamentalMat(points1, points2, CV_FM_8POINT);

3.解决方案

将源码/slambook2-master/ch7/pose_estimation_2d2d.cpp中CV_FM_8POINT改为FM_8POINT即可。如下所示：

//fundamental_matrix = findFundamentalMat ( points1, points2, CV_FM_8POINT );

fundamental_matrix = findFundamentalMat ( points1, points2, FM_8POINT );

#参考链接高翔slam14讲中ch7代码中的一些修改_jywell-CSDN博客

4.编译问题

[ 83%] Linking CXX executable pose_estimation_2d2d

In file included from /usr/local/include/g2o/core/base_unary_edge.h:30,

                 from /mnt/d/slam14/slambook2-master/ch7/pose_estimation_3d2d.cpp:8:

/usr/local/include/g2o/core/base_fixed_sized_edge.h:199:32: error: ‘index_sequence’ is not a member of ‘std’

  199 |   struct HessianTupleType> {

4.解决方案

在CMakeLists中添加C++14编译

set( CMAKE_CXX_STANDARD 14)

5.编译问题

[ 83%] Linking CXX executable pose_estimation_3d3d

/usr/bin/ld: CMakeFiles/pose_estimation_3d3d.dir/pose_estimation_3d3d.cpp.o: in function `unsigned long long fmt::v8::detail::width_checker::operator()(float) [clone .isra.0]':

pose_estimation_3d3d.cpp:(.text+0xe): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'

/usr/bin/ld: CMakeFiles/pose_estimation_3d3d.dir/pose_estimation_3d3d.cpp.o: in function `unsigned long long fmt::v8::detail::precision_checker::operator()(float) [clone .isra.0]':

5.解决方案

没有链接fmt库，链接上fmt 库就没问题了，将CMakeLists.txt中：

add_executable(pose_estimation_3d2d pose_estimation_3d2d.cpp)

target_link_libraries(pose_estimation_3d2d

        g2o_core g2o_stuff

        ${OpenCV_LIBS})

add_executable(pose_estimation_3d3d pose_estimation_3d3d.cpp)

target_link_libraries(pose_estimation_3d3d

        g2o_core g2o_stuff

        ${OpenCV_LIBS})

改为

add_executable(pose_estimation_3d2d pose_estimation_3d2d.cpp)

target_link_libraries(pose_estimation_3d2d

        g2o_core g2o_stuff

        ${OpenCV_LIBS}

              fmt)

add_executable(pose_estimation_3d3d pose_estimation_3d3d.cpp)

target_link_libraries(pose_estimation_3d3d

        g2o_core g2o_stuff

        ${OpenCV_LIBS}

              fmt)

1. slambook2-master/ch8

1.编译问题

（1）[ 50%] Building CXX object CMakeFiles/optical_flow.dir/optical_flow.cpp.o

/mnt/d/slam14/slambook2-master/ch8/optical_flow.cpp: In function ‘int main(int, char**)’:

/mnt/d/slam14/slambook2-master/ch8/optical_flow.cpp:145:37: error: ‘CV_GRAY2BGR’ was not declared in this scope

  145 |     cv::cvtColor(img2, img2_single, CV_GRAY2BGR);

（2）[ 50%] Building CXX object CMakeFiles/direct_method.dir/direct_method.cpp.o

/mnt/d/slam14/slambook2-master/ch8/direct_method.cpp: In function ‘void DirectPoseEstimationSingleLayer(const cv::Mat&, const cv::Mat&, const VecVector2d&, std::vector >, Sophus::SE3d&)’:

/mnt/d/slam14/slambook2-master/ch8/direct_method.cpp:206:35: error: ‘CV_GRAY2BGR’ was not declared in this scope

  206 |     cv::cvtColor(img2, img2_show, CV_GRAY2BGR);

1.解决方案

（1）、（2）这是由于OpenCV版本更新导致的，用COLOR_GRAY2BGR替换掉CV_GRAY2BGR即可。

（2）修改完后会报错：

/mnt/d/slam14/slambook2-master/ch8/direct_method.cpp:206:35: error: ‘COLOR_GRAY2BGR’ was not declared in this scope; did you mean ‘cv::COLOR_GRAY2BGR’?

  206 |     cv::cvtColor(img2, img2_show, COLOR_GRAY2BGR);

将cv::cvtColor(img2, img2_show, COLOR_GRAY2BGR);

改为cv::cvtColor(img2, img2_show, cv::COLOR_GRAY2BGR);

即可。

2.编译问题

[ 50%] Building CXX object CMakeFiles/direct_method.dir/direct_method.cpp.o

In file included from /usr/local/include/pangolin/utils/signal_slot.h:3,

                 from /usr/local/include/pangolin/windowing/window.h:35,

                 from /usr/local/include/pangolin/display/display.h:34,

                 from /usr/local/include/pangolin/pangolin.h:38,

                 from /mnt/d/slam14/slambook2-master/ch8/direct_method.cpp:4:

/usr/local/include/sigslot/signal.hpp:109:79: error: ‘decay_t’ is not a member of ‘std’; did you mean ‘decay’?

  109 | constexpr bool is_weak_ptr_compatible_v = detail::is_weak_ptr_compatible>::value;

2.解决方案

将CMakeLists中set(CMAKE_CXX_FLAGS "-std=c++11")注释掉即可

#set(CMAKE_CXX_FLAGS "-std=c++11")

3.编译问题

[ 75%] Linking CXX executable direct_method

/usr/bin/ld: CMakeFiles/direct_method.dir/direct_method.cpp.o: in function `unsigned long long fmt::v8::detail::width_checker::operator()(float) [clone .isra.0]':

direct_method.cpp:(.text+0xe): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'

/usr/bin/ld: CMakeFiles/direct_method.dir/direct_method.cpp.o: in function `unsigned long long fmt::v8::detail::precision_checker::operator()(float) [clone .isra.0]':

direct_method.cpp:(.text+0x2e): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'

3.解决方案

没有链接fmt库，链接上fmt 库就没问题了，将CMakeLists.txt中：

target_link_libraries(direct_method ${OpenCV_LIBS} ${Pangolin_LIBRARIES})

改为：

target_link_libraries(direct_method ${OpenCV_LIBS} ${Pangolin_LIBRARIES} fmt)

4.编译问题

（1）slambook2-master/ch8# ./direct_method

iteration: 0, cost: 1.26214e+07

iteration: 1, cost: 5.57538e+06

iteration: 2, cost: 2.10167e+06

iteration: 3, cost: 1.55744e+06

cost increased: 1.57708e+06, 1.55744e+06

T21 =

   0.999991  0.00226116  0.00368398 -0.00837304

-0.00227106    0.999994  0.00268373 0.000714081

-0.00367789 -0.00269207     0.99999   -0.725078

          0           0           0           1

direct method for single layer: 0.00258083

terminate called after throwing an instance of 'cv::Exception'

  what():  OpenCV(4.5.5-dev) /mnt/d/slam14/wsl_libs/opencv-4.x/modules/highgui/src/window.cpp:1268: error: (-2:Unspecified error) The function is not implemented. Rebuild the library with Windows, GTK+ 2.x or Cocoa support. If you are on Ubuntu or Debian, install libgtk2.0-dev and pkg-config, then re-run cmake or configure script in function 'cvShowImage'

Aborted

（2）slambook2-master/ch8# ./optical_flow

build pyramid time: 9.7407e-05

track pyr 3 cost time: 0.000170617

track pyr 2 cost time: 0.000116553

track pyr 1 cost time: 0.000108528

track pyr 0 cost time: 0.000158053

optical flow by gauss-newton: 0.000754244

optical flow by opencv: 0.00101882

terminate called after throwing an instance of 'cv::Exception'

  what():  OpenCV(4.5.5-dev) /mnt/d/slam14/wsl_libs/opencv-4.x/modules/highgui/src/window.cpp:1268: error: (-2:Unspecified error) The function is not implemented. Rebuild the library with Windows, GTK+ 2.x or Cocoa support. If you are on Ubuntu or Debian, install libgtk2.0-dev and pkg-config, then re-run cmake or configure script in function 'cvShowImage'

Aborted

4.解决方案

//TODO有待解决，解决其他问题后一并解决

应该是由于wsl没有安装UI界面，导致编译的程序调用界面显示时不能显示所致。

1. slambook2-master/ch9

1.编译问题

[ 66%] Building CXX object CMakeFiles/bundle_adjustment_g2o.dir/bundle_adjustment_g2o.cpp.o

In file included from /usr/local/include/ceres/internal/parameter_dims.h:37,

                 from /usr/local/include/ceres/internal/autodiff.h:151,

                 from /usr/local/include/ceres/autodiff_cost_function.h:130,

                 from /usr/local/include/ceres/ceres.h:37,

                 from /mnt/d/slam14/slambook2-master/ch9/bundle_adjustment_ceres.cpp:2:

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:64:21: error: ‘integer_sequence’ is not a member of ‘std’

   64 | struct SumImpl> {

1.解决方案

在CMakeLists中添加set( CMAKE_CXX_STANDARD 14)

2.编译问题

[100%] Linking CXX executable bundle_adjustment_g2o

/usr/bin/ld: CMakeFiles/bundle_adjustment_g2o.dir/bundle_adjustment_g2o.cpp.o: in function `unsigned long long fmt::v8::detail::width_checker::operator()(float) [clone .isra.0]':

bundle_adjustment_g2o.cpp:(.text+0xe): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'

/usr/bin/ld: CMakeFiles/bundle_adjustment_g2o.dir/bundle_adjustment_g2o.cpp.o: in function `unsigned long long fmt::v8::detail::precision_checker::operator()(float) [clone .isra.0]':

2.解决方案

没有链接fmt库，链接上fmt 库就没问题了，将CMakeLists.txt中：

target_link_libraries(bundle_adjustment_g2o ${G2O_LIBS} bal_common)

改为：

target_link_libraries(bundle_adjustment_g2o ${G2O_LIBS} bal_common fmt)

1. slambook2-master/ch10

1.编译问题

[ 50%] Building CXX object CMakeFiles/pose_graph_g2o_lie.dir/pose_graph_g2o_lie_algebra.cpp.o

In file included from /usr/local/include/g2o/core/base_binary_edge.h:30,

                 from /usr/local/include/g2o/types/slam3d/types_slam3d.h:31,

                 from /mnt/d/slam14/slambook2-master/ch10/pose_graph_g2o_SE3.cpp:5:

/usr/local/include/g2o/core/base_fixed_sized_edge.h:199:32: error: ‘index_sequence’ is not a member of ‘std’

  199 |   struct HessianTupleType> {

1.解决方案

在CMakeLists中添加C++14编译

set( CMAKE_CXX_STANDARD 14)

2.编译问题

[100%] Linking CXX executable pose_graph_g2o_lie

/usr/bin/ld: CMakeFiles/pose_graph_g2o_lie.dir/pose_graph_g2o_lie_algebra.cpp.o: in function `unsigned long long fmt::v8::detail::width_checker::operator()(float) [clone .isra.0]':

pose_graph_g2o_lie_algebra.cpp:(.text+0xe): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'

/usr/bin/ld: CMakeFiles/pose_graph_g2o_lie.dir/pose_graph_g2o_lie_algebra.cpp.o: in function `unsigned long long fmt::v8::detail::precision_checker::operator()(float) [clone .isra.0]':

2.解决方案

没有链接fmt库，链接上fmt 库就没问题了，将CMakeLists.txt中：

target_link_libraries(pose_graph_g2o_lie

        g2o_core g2o_stuff

        ${CHOLMOD_LIBRARIES}

        ${Sophus_LIBRARIES}

)

改为：

target_link_libraries(pose_graph_g2o_lie

        g2o_core g2o_stuff

        ${CHOLMOD_LIBRARIES}

        ${Sophus_LIBRARIES}

        fmt)

3.编译问题

slambook2-master/ch10/build# ./pose_graph_g2o_lie ../sphere.g2o

Sophus ensure failed in function 'void Sophus::SO3Base::normalize() [with Derived = Sophus::SO3]', file '/usr/local/include/sophus/so3.hpp', line 303.

Quaternion (   0.706662 4.32706e-17    0.707551 -4.3325e-17) should not be close to zero!

Aborted

3.解决方案

在函数virtual bool read(istream& is)中加入return true;

#参考链接视觉SLAM十四讲 第10章 运行pose_graph_g2o_lie时报错_u012464154的博客-CSDN博客

1. slambook2-master/ch11

1.编译问题

CMake Error at CMakeLists.txt:8 (find_package):

  Could not find a configuration file for package "OpenCV" that is compatible

  with requested version "3.1".

  The following configuration files were considered but not accepted:

    /usr/local/lib/cmake/opencv4/OpenCVConfig.cmake, version: 4.5.5

1.解决方案

将CMakeLists改为：

# opencv

#find_package( OpenCV 3.1 REQUIRED )

find_package( OpenCV REQUIRED )

2.编译问题

-- Build files have been written to: /mnt/d/slam14/slambook2-master/ch11/build

make[2]: *** No rule to make target '/usr/local/lib/libDBoW3.a', needed by 'gen_vocab'.  Stop.

make[2]: *** Waiting for unfinished jobs....

make[2]: *** No rule to make target '/usr/local/lib/libDBoW3.a', needed by 'loop_closure'.  Stop.

make[2]: *** Waiting for unfinished jobs....

make[2]: *** No rule to make target '/usr/local/lib/libDBoW3.a', needed by 'feature_training'.  Stop.

make[2]: *** Waiting for unfinished jobs....

[ 50%] Building CXX object CMakeFiles/feature_training.dir/feature_training.cpp.o

[ 50%] Building CXX object CMakeFiles/loop_closure.dir/loop_closure.cpp.o

[ 50%] Building CXX object CMakeFiles/gen_vocab.dir/gen_vocab_large.cpp.o

make[1]: *** [CMakeFiles/Makefile2:87: CMakeFiles/feature_training.dir/all] Error 2

make[1]: *** Waiting for unfinished jobs....

make[1]: *** [CMakeFiles/Makefile2:113: CMakeFiles/loop_closure.dir/all] Error 2

make[1]: *** [CMakeFiles/Makefile2:139: CMakeFiles/gen_vocab.dir/all] Error 2

make: *** [Makefile:91: all] Error 2

2.解决方案

由于/usr/local/lib/中只有libDBoW3.so没有libDBoW3.a，将CMakeLists中libDBoW3.a改为libDBoW3.so即可，如下所示：

#set( DBoW3_LIBS "/usr/local/lib/libDBoW3.a" )

set( DBoW3_LIBS "/usr/local/lib/libDBoW3.so" )

#参考链接

make[2]: *** No rule to make target ‘/usr/local/lib/libDBoW3.a‘, needed by ‘feature_training‘. Stop_听雪楼主长恨水的博客-CSDN博客

高翔视觉slam十四讲第二版第十一章DBow3词库安装与出现的问题 - JavaShuo

3.编译问题

slambook2-master/ch11/build# ./gen_vocab

terminate called after throwing an instance of 'std::logic_error'

  what():  basic_string::_M_construct null not valid

Aborted

root@LAPTOP-HAUD7VNG:/mnt/d/slam14/slambook2-master/ch11/build# ./loop_closure

reading database

Vocabulary does not exist.

3.解决方案

//TODO有待解决

1. slambook2-master/ch12

1.编译问题

CMake Error at dense_mono/CMakeLists.txt:11 (find_package):

  Could not find a configuration file for package "OpenCV" that is compatible

  with requested version "3.1".

  The following configuration files were considered but not accepted:

/usr/local/lib/cmake/opencv4/OpenCVConfig.cmake, version: 4.5.5

1.解决方案

将CMakeLists改为：

# opencv

#find_package( OpenCV 3.1 REQUIRED )

find_package( OpenCV REQUIRED )

2.编译问题

[ 50%] Building CXX object dense_mono/CMakeFiles/dense_mapping.dir/dense_mapping.cpp.o

In file included from /usr/local/include/pcl-1.12/pcl/pcl_macros.h:74,

                 from /usr/local/include/pcl-1.12/pcl/point_cloud.h:50,

                 from /mnt/d/slam14/slambook2-master/ch12/dense_RGBD/surfel_mapping.cpp:5:

/usr/local/include/pcl-1.12/pcl/pcl_config.h:7:4: error: #error PCL requires C++14 or above

    7 |   #error PCL requires C++14 or above

      |    ^~~~~

2.解决方案

在CMakeLists中添加

set( CMAKE_CXX_STANDARD 14)

3.编译问题

/mnt/d/slam14/slambook2-master/ch12/dense_mono/dense_mapping.cpp:460:33: error: ‘CV_GRAY2BGR’ was not declared in this scope

  460 |     cv::cvtColor(ref, ref_show, CV_GRAY2BGR);

      |                                 ^~~~~~~~~~~

3.解决方案

这是由于OpenCV版本更新导致的，用COLOR_GRAY2BGR替换掉CV_GRAY2BGR即可。

4.编译问题

[ 37%] Built target octomap_mapping

/usr/bin/ld: CMakeFiles/dense_mapping.dir/dense_mapping.cpp.o: in function `unsigned long long fmt::v8::detail::width_checker::operator()(float) [clone .isra.0]':

dense_mapping.cpp:(.text+0xe): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'

/usr/bin/ld: CMakeFiles/dense_mapping.dir/dense_mapping.cpp.o: in function `unsigned long long fmt::v8::detail::precision_checker::operator()(float) [clone .isra.0]':

dense_mapping.cpp:(.text+0x2e): undefined reference to `fmt::v8::detail::error_handler::on_error(char const*)'

4.解决方案

没有链接fmt库，链接上fmt 库就没问题了，将slambook2-master/ch12/dense_mono/dense_mapping.cpp/CMakeLists.txt中：

target_link_libraries(dense_mapping ${THIRD_PARTY_LIBS})

改为：

target_link_libraries(dense_mapping ${THIRD_PARTY_LIBS} fmt)

5.编译问题

/mnt/d/slam14/slambook2-master/ch12/dense_RGBD/surfel_mapping.cpp:31:9: error: ‘class pcl::MovingLeastSquares’ has no member named ‘setPolynomialFit’; did you mean  ‘setPolynomialOrder’’?

   31 |     mls.setPolynomialFit(polynomial_order > 1);

5.解决方案

surfel_mapping.cpp报错说这个setPolynomialFit函数不是pcl库的成员函数，但是它就是pcl库的成员函数，说明这个pcl库没安装好需要重新安装pcl库。

#参考链接

SLAM学习笔记-------------（12）建图_1900的博客-CSDN博客

1. slambook2-master/ch13

1.编译问题

1.解决方案