PotatoEt
commented
2 weeks ago 我从新编译了一下，安装pcl组件，但是在编译g2o库时还是遇到了Eigen库版本高后的警告以及elas对指针的警告，elas方面好像是gcc11的原因。opencv我用的是3.4.15。
cmake -B build -DCMAKE_BUILD_TYPE=Release
Build type: Release
-- Using flag -std=c++14.
OPENCV VERSION:
3.4.15
CMake Warning (dev) at /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:146 (find_package):
Policy CMP0144 is not set: find_package uses upper-case
CMake variable EIGEN_ROOT is set to:
/usr/local/include/eigen3For compatibility, find_package is ignoring the variable, but code in a .cmake module might still use it. Call Stack (most recent call first): /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:299 (find_eigen) /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:545 (find_external_library) CMakeLists.txt:39 (find_package) This warning is for project developers. Use -Wno-dev to suppress it.
-- Eigen found (include: /usr/local/include/eigen3, version: 3.3.90)
-- Found Boost: /usr/local/lib/cmake/Boost-1.83.0/BoostConfig.cmake (found suitable version "1.83.0", minimum required is "1.65.0") found components: system filesystem date_time iostreams serialization
CMake Warning (dev) at /usr/lib/x86_64-linux-gnu/cmake/pcl/Modules/FindFLANN.cmake:44 (find_package):
Policy CMP0144 is not set: find_package uses upper-case
CMake variable FLANN_ROOT is set to:
/usrFor compatibility, find_package is ignoring the variable, but code in a .cmake module might still use it. Call Stack (most recent call first): /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:256 (find_package) /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:301 (find_flann) /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:545 (find_external_library) CMakeLists.txt:39 (find_package) This warning is for project developers. Use -Wno-dev to suppress it.
-- FLANN found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libflann_cpp.so) -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb) -- Eigen found (include: /usr/local/include/eigen3, version: 3.3.90) -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb) -- Found Qhull version 8.0.2 -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) -- looking for PCL_COMMON -- looking for PCL_KDTREE -- looking for PCL_OCTREE -- looking for PCL_SEARCH -- looking for PCL_SAMPLE_CONSENSUS -- looking for PCL_FILTERS -- looking for PCL_2D -- looking for PCL_GEOMETRY -- looking for PCL_IO -- looking for PCL_FEATURES -- looking for PCL_ML -- looking for PCL_SEGMENTATION -- looking for PCL_VISUALIZATION -- looking for PCL_SURFACE -- looking for PCL_REGISTRATION -- looking for PCL_KEYPOINTS -- looking for PCL_TRACKING -- looking for PCL_RECOGNITION -- looking for PCL_STEREO -- looking for PCL_APPS -- looking for PCL_IN_HAND_SCANNER -- looking for PCL_MODELER -- looking for PCL_POINT_CLOUD_EDITOR -- looking for PCL_OUTOFCORE -- looking for PCL_PEOPLE -- Found Boost: /usr/local/lib/cmake/Boost-1.83.0/BoostConfig.cmake (found version "1.83.0") found components: filesystem program_options -- Configuring done (1.0s) -- Generating done (0.1s) -- Build files have been written to: /home/potato/Code/ORBSLAM3_Dense/build potato@POET:~/Code/ORBSLAM3_Dense$ ./MyExample/rgbd_slam -r /home/potato/Downloads/slam/small
ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. This program comes with ABSOLUTELY NO WARRANTY; This is free software, and you are welcome to redistribute it under certain conditions. See LICENSE.txt.
Input sensor was set to: RGB-D Loading settings from /home/potato/Code/ORBSLAM3_Dense/MyExample/rgbdslam.yaml -Loaded camera 1 Camera.newHeight optional parameter does not exist... Camera.newWidth optional parameter does not exist... -Loaded image info -Loaded RGB-D calibration -Loaded ORB settings Viewer.imageViewScale optional parameter does not exist... -Loaded viewer settings System.LoadAtlasFromFile optional parameter does not exist... System.SaveAtlasToFile optional parameter does not exist... -Loaded Atlas settings System.thFarPoints optional parameter does not exist... -Loaded misc parameters
SLAM settings: -Camera 1 parameters (Pinhole): [ 520.909 521.007 325.141 249.702 ] -Camera 1 distortion parameters: [ 0.231222 -0.784899 -0.003257 -0.000105 0.917205 ] -Original image size: [ 640 , 480 ] -Current image size: [ 640 , 480 ] -Sequence FPS: 30 -RGB-D depth map factor: 5208 -Features per image: 1000 -ORB scale factor: 1.2 -ORB number of scales: 8 -Initial FAST threshold: 20 -Min FAST threshold: 7
Loading ORB Vocabulary. This could take a while... Vocabulary loaded!
Initialization of Atlas from scratch
Creation of new map with id: 0
Creation of new map with last KF id: 0
initializa with disp images !
the resolution of Point cloud Voxel filter : 0.03
the Point cloud Outlier filter params :
meank : 5
stdthresh :1
the Unit of Point cloud : 1
Seq. Name:
There are 1 cameras in the atlas
Camera 0 is pinhole
2024-06-13 09:06:24.780 ( 2.951s) [ A572B640]vtkOpenGLPolyDataMapper:306 WARN| vtkOpenGLPolyDataMapper::GetVertexShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetVertexShaderCode instead.
2024-06-13 09:06:24.780 ( 2.951s) [ A572B640]vtkOpenGLPolyDataMapper:298 WARN| vtkOpenGLPolyDataMapper::SetVertexShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetVertexShaderCode instead.
2024-06-13 09:06:24.780 ( 2.951s) [ A572B640]vtkOpenGLPolyDataMapper:336 WARN| vtkOpenGLPolyDataMapper::GetGeometryShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetGeometryShaderCode instead.
2024-06-13 09:06:24.780 ( 2.951s) [ A572B640]vtkOpenGLPolyDataMapper:328 WARN| vtkOpenGLPolyDataMapper::SetGeometryShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetGeometryShaderCode instead.
2024-06-13 09:06:24.780 ( 2.951s) [ A572B640]vtkOpenGLPolyDataMapper:321 WARN| vtkOpenGLPolyDataMapper::GetFragmentShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetFragmentShaderCode instead.
2024-06-13 09:06:24.780 ( 2.951s) [ A572B640]vtkOpenGLPolyDataMapper:313 WARN| vtkOpenGLPolyDataMapper::SetFragmentShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetFragmentShaderCode instead.
2024-06-13 09:06:24.780 ( 2.951s) [ A572B640]vtkOpenGLPolyDataMapper:306 WARN| vtkOpenGLPolyDataMapper::GetVertexShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetVertexShaderCode instead.
2024-06-13 09:06:24.780 ( 2.951s) [ A572B640]vtkOpenGLPolyDataMapper:298 WARN| vtkOpenGLPolyDataMapper::SetVertexShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetVertexShaderCode instead.
2024-06-13 09:06:24.780 ( 2.951s) [ A572B640]vtkOpenGLPolyDataMapper:336 WARN| vtkOpenGLPolyDataMapper::GetGeometryShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetGeometryShaderCode instead.
2024-06-13 09:06:24.780 ( 2.951s) [ A572B640]vtkOpenGLPolyDataMapper:328 WARN| vtkOpenGLPolyDataMapper::SetGeometryShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetGeometryShaderCode instead.
2024-06-13 09:06:24.780 ( 2.952s) [ A572B640]vtkOpenGLPolyDataMapper:321 WARN| vtkOpenGLPolyDataMapper::GetFragmentShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetFragmentShaderCode instead.
2024-06-13 09:06:24.780 ( 2.952s) [ A572B640]vtkOpenGLPolyDataMapper:313 WARN| vtkOpenGLPolyDataMapper::SetFragmentShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetFragmentShaderCode instead.
Starting the Viewer
段错误 (核心已转储)
potato@POET:~/Code/ORBSLAM3_Dense$
5p6
您好，我想问一下VTKOPENGL警告是什么原因，用small数据集显示核心以转储。
Build type: Release -- Using flag -std=c++14. OPENCV VERSION: 3.4.15 CMake Warning (dev) at /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:146 (find_package): Policy CMP0144 is not set: find_package uses upper-case_ROOT
variables. Run "cmake --help-policy CMP0144" for policy details. Use the
cmake_policy command to set the policy and suppress this warning.
CMake variable EIGEN_ROOT is set to:
For compatibility, find_package is ignoring the variable, but code in a .cmake module might still use it. Call Stack (most recent call first): /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:299 (find_eigen) /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:543 (find_external_library) CMakeLists.txt:39 (find_package) This warning is for project developers. Use -Wno-dev to suppress it.
-- Eigen found (include: /usr/local/include/eigen3, version: 3.3.90) -- Found Boost: /usr/local/lib/cmake/Boost-1.83.0/BoostConfig.cmake (found suitable version "1.83.0", minimum required is "1.65.0") found components: system filesystem date_time iostreams serialization CMake Warning (dev) at /usr/lib/x86_64-linux-gnu/cmake/pcl/Modules/FindFLANN.cmake:44 (find_package): Policy CMP0144 is not set: find_package uses upper-case_ROOT
variables. Run "cmake --help-policy CMP0144" for policy details. Use the
cmake_policy command to set the policy and suppress this warning.
CMake variable FLANN_ROOT is set to:
For compatibility, find_package is ignoring the variable, but code in a .cmake module might still use it. Call Stack (most recent call first): /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:256 (find_package) /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:301 (find_flann) /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:543 (find_external_library) CMakeLists.txt:39 (find_package) This warning is for project developers. Use -Wno-dev to suppress it.
-- FLANN found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libflann_cpp.so) -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb) WARNING io features related to pcap will be disabled -- Eigen found (include: /usr/local/include/eigen3, version: 3.3.90) -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb) -- Found Qhull version 8.0.2 -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) -- looking for PCL_COMMON -- looking for PCL_KDTREE -- looking for PCL_OCTREE -- looking for PCL_SEARCH -- looking for PCL_SAMPLE_CONSENSUS -- looking for PCL_FILTERS -- looking for PCL_2D -- looking for PCL_GEOMETRY -- looking for PCL_IO -- looking for PCL_FEATURES -- looking for PCL_ML -- looking for PCL_SEGMENTATION -- looking for PCL_VISUALIZATION -- looking for PCL_SURFACE -- looking for PCL_REGISTRATION -- looking for PCL_KEYPOINTS -- looking for PCL_TRACKING -- looking for PCL_RECOGNITION -- looking for PCL_STEREO -- looking for PCL_APPS -- looking for PCL_IN_HAND_SCANNER -- looking for PCL_MODELER -- looking for PCL_POINT_CLOUD_EDITOR -- looking for PCL_OUTOFCORE -- looking for PCL_PEOPLE -- Found Boost: /usr/local/lib/cmake/Boost-1.83.0/BoostConfig.cmake (found version "1.83.0") found components: filesystem program_options -- Configuring done (1.0s) -- Generating done (0.1s) -- Build files have been written to: /home/potato/Code/ORBSLAM3_Dense/build potato@POET:~/Code/ORBSLAM3_Dense/build$ cd .. potato@POET:~/Code/ORBSLAM3_Dense$ /^Configure potato@POET:~/Code/ORBSLAM3_Dense$ ./MyExample/rgbd_slam -r /home/potato/Downloads/slam
ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. This program comes with ABSOLUTELY NO WARRANTY; This is free software, and you are welcome to redistribute it under certain conditions. See LICENSE.txt.
Input sensor was set to: RGB-D Loading settings from /home/potato/Code/ORBSLAM3_Dense/MyExample/rgbdslam.yaml -Loaded camera 1 Camera.newHeight optional parameter does not exist... Camera.newWidth optional parameter does not exist... -Loaded image info -Loaded RGB-D calibration -Loaded ORB settings Viewer.imageViewScale optional parameter does not exist... -Loaded viewer settings System.LoadAtlasFromFile optional parameter does not exist... System.SaveAtlasToFile optional parameter does not exist... -Loaded Atlas settings System.thFarPoints optional parameter does not exist... -Loaded misc parameters
SLAM settings: -Camera 1 parameters (Pinhole): [ 520.909 521.007 325.141 249.702 ] -Camera 1 distortion parameters: [ 0.231222 -0.784899 -0.003257 -0.000105 0.917205 ] -Original image size: [ 640 , 480 ] -Current image size: [ 640 , 480 ] -Sequence FPS: 30 -RGB-D depth map factor: 5208 -Features per image: 1000 -ORB scale factor: 1.2 -ORB number of scales: 8 -Initial FAST threshold: 20 -Min FAST threshold: 7
Loading ORB Vocabulary. This could take a while... Vocabulary loaded!
Initialization of Atlas from scratch Creation of new map with id: 0 Creation of new map with last KF id: 0 initializa with disp images ! the resolution of Point cloud Voxel filter : 0.03 the Point cloud Outlier filter params :
meank : 5 stdthresh :1 the Unit of Point cloud : 1 Seq. Name: There are 1 cameras in the atlas Camera 0 is pinhole Starting the Viewer 2024-06-13 07:52:55.569 ( 2.959s) [ 4A2EA640]vtkOpenGLPolyDataMapper:306 WARN| vtkOpenGLPolyDataMapper::GetVertexShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetVertexShaderCode instead. 2024-06-13 07:52:55.569 ( 2.959s) [ 4A2EA640]vtkOpenGLPolyDataMapper:298 WARN| vtkOpenGLPolyDataMapper::SetVertexShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetVertexShaderCode instead. 2024-06-13 07:52:55.569 ( 2.959s) [ 4A2EA640]vtkOpenGLPolyDataMapper:336 WARN| vtkOpenGLPolyDataMapper::GetGeometryShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetGeometryShaderCode instead. 2024-06-13 07:52:55.569 ( 2.959s) [ 4A2EA640]vtkOpenGLPolyDataMapper:328 WARN| vtkOpenGLPolyDataMapper::SetGeometryShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetGeometryShaderCode instead. 2024-06-13 07:52:55.569 ( 2.959s) [ 4A2EA640]vtkOpenGLPolyDataMapper:321 WARN| vtkOpenGLPolyDataMapper::GetFragmentShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetFragmentShaderCode instead. 2024-06-13 07:52:55.569 ( 2.959s) [ 4A2EA640]vtkOpenGLPolyDataMapper:313 WARN| vtkOpenGLPolyDataMapper::SetFragmentShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetFragmentShaderCode instead. 2024-06-13 07:52:55.569 ( 2.959s) [ 4A2EA640]vtkOpenGLPolyDataMapper:306 WARN| vtkOpenGLPolyDataMapper::GetVertexShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetVertexShaderCode instead. 2024-06-13 07:52:55.569 ( 2.959s) [ 4A2EA640]vtkOpenGLPolyDataMapper:298 WARN| vtkOpenGLPolyDataMapper::SetVertexShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetVertexShaderCode instead. 2024-06-13 07:52:55.569 ( 2.959s) [ 4A2EA640]vtkOpenGLPolyDataMapper:336 WARN| vtkOpenGLPolyDataMapper::GetGeometryShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetGeometryShaderCode instead. 2024-06-13 07:52:55.569 ( 2.959s) [ 4A2EA640]vtkOpenGLPolyDataMapper:328 WARN| vtkOpenGLPolyDataMapper::SetGeometryShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetGeometryShaderCode instead. 2024-06-13 07:52:55.569 ( 2.959s) [ 4A2EA640]vtkOpenGLPolyDataMapper:321 WARN| vtkOpenGLPolyDataMapper::GetFragmentShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::GetFragmentShaderCode instead. 2024-06-13 07:52:55.569 ( 2.959s) [ 4A2EA640]vtkOpenGLPolyDataMapper:313 WARN| vtkOpenGLPolyDataMapper::SetFragmentShaderCode was deprecated for VTK 9.0 and will be removed in a future version. Use vtkOpenGLShaderProperty::SetFragmentShaderCode instead. 段错误 (核心已转储)