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    教程20里面出现的问题

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    • weijiz
      weijiz @RockyRen last edited by weijiz

      @rockyren 你需要再重新编译一下ORB_SLAM

      cd ~/Documets/ros/src/ORB_SLAM
      git pull
      
      sudo sed -i -r 's#set\(OpenCV_LIBS \$\{OpenCV_LIBS\} "\$\{__cvcomponent\}"\)#set\(OpenCV_LIBS \$\{OpenCV_LIBS\} "\$\{OpenCV_INSTALL_PATH\}/lib/lib\$\{__cvcomponent\}3.so")#' /opt/ros/kinetic/share/OpenCV-3.3.1/OpenCVConfig.cmake
      
      mkdir build
      cd build
      cmake .. -DROS_BUILD_TYPE=Release
      make
      cd ~/Documents/ros
      catkin_make -DCATKIN_WHITELIST_PACKAGES="ORB_SLAM"
      
      1 Reply Last reply Reply Quote 0
      • RockyRen
        RockyRen last edited by

        你好,我在按照上面的过程都执行了一遍以后还是发现无法运行。具体如下:
        0_1526999074419_792f2180-cab1-4a9a-a0ef-1f0c23794def-image.png
        0_1526999109839_8cd31e05-1428-4b32-b970-3399f6a8bb9a-image.png
        0_1526999158356_bed53b43-f994-4c48-b8a5-aa16fa5d1858-image.png
        0_1526999209811_0848890d-04c5-4d81-8005-798b28dac4ea-image.png
        0_1526999291048_b459fb6a-be9a-478f-ab0e-8a36eeef7bb5-image.png
        0_1526999329144_6f09a97f-529a-46ae-b95b-3b599d2f6ec6-image.png
        0_1526999369330_9d0a781d-864a-4bfe-91c7-fd2dca48e00d-image.png

        weijiz 1 Reply Last reply Reply Quote 0
        • weijiz
          weijiz @RockyRen last edited by weijiz

          @rockyren
          0_1527037167931_874b537c-7542-4c46-b4b6-a36cbaed5645-image.png
          你在编译的时候有这个错误。因为ORB_SLAM中opencv的预编译版本的和你自己编译的版本不一样。你要重新编译DBOW2

          
          # 编译 DBOW2
          cd Thirdparty/DBoW2
          mkdir build
          cd build
          cmake .. -DCMAKE_BUILD_TYPE=Release
          make 
          
          # 编译 ORB_SLAM
          cd ../../
          mkdir build
          cd build
          cmake .. -DROS_BUILD_TYPE=Release
          make
          
          # 编译catkin包
          cd ~/Documents/ros
          catkin_make -DCATKIN_WHITELIST_PACKAGES="ORB_SLAM"
          
          1 Reply Last reply Reply Quote 0
          • RockyRen
            RockyRen last edited by

            感谢,按照上面的步骤已经能够重新运行 roslaunch ORB_SLAM ov2610,不过按照教程20继续走,又在这一步出了问题,麻烦看一下是什么情况?0_1527040862143_a0830df9-5b19-4164-8c48-99f8fc6b30f6-image.png

            weijiz 1 Reply Last reply Reply Quote 0
            • weijiz
              weijiz @RockyRen last edited by

              @rockyren scipy没有安装

              sudo pip install scipy
              
              1 Reply Last reply Reply Quote 0
              • RockyRen
                RockyRen last edited by RockyRen

                还是有新的问题(😭),我在运行roslaunch ORB_SLAM ov2610后,该命令行窗口会停留在Model Motion:enable处,然后再另一个窗口运行rosrun orb_init orb_scale.py之后,原来的那个窗口就会报错
                。0_1527065257558_cdc4614f-c5db-4a27-8863-91c7ce029fb8-image.png 0_1527065284620_23400c54-30e6-436d-8125-d4dab2de3c49-image.png

                weijiz xiaoxutongxie 2 Replies Last reply Reply Quote 0
                • weijiz
                  weijiz @RockyRen last edited by

                  @rockyren 这个是程序崩溃了,你可以单独执行 错误里面cmd后面的指令,看看输出是什么。

                  0_1527219254134_18b86f01-75de-4daf-8164-4778121a1ace-image.png

                  1 Reply Last reply Reply Quote 0
                  • xiaoxutongxie
                    xiaoxutongxie @RockyRen last edited by

                    @RockyRen 想问你下,你在运行ubuntu时,这个界面时怎么截图的

                    weijiz 1 Reply Last reply Reply Quote 0
                    • weijiz
                      weijiz @xiaoxutongxie last edited by

                      @xiaoxutongxie 可以按Print Screen 按钮

                      1 Reply Last reply Reply Quote 0
                      • rongrong1314
                        rongrong1314 last edited by

                        @RockyRen 请问一下你解决程序崩溃问题了吗,我也是最后出现进程错误

                        1 Reply Last reply Reply Quote 0
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