荘の学習メモ

1. Installation (1) ROS (2) kindr $ git clone  https://github.com/ethz-asl/kindr $ mkdir build $ cd build  $ cmake ..  $ sudo make install (3) lightweight_filtering $ mkdir -p ~/workspace_rovio/src $ cd ~/workspace_rovio $ catkin_make $ cd src $ git clone https://github.com/ethz-asl/rovio.git $ cd rovio $ git submodule update --init --recursive  2. Compile $ cd ~/workspace_rovio $ catkin_make rovio --cmake-args -DCMAKE_BUILD_TYPE=Release -DMAKE_SCENE=ON $ catkin_make 3. Testing *Modify the bagfile path in rovio_rosbag_node.launch $ roscore $ cd ~/workspace_rovio $ source devel/setup.bash $ roslaunch rovio rovio_node.launch $ rosbag play "bagfile path" Reference: [1]  https://github.com/ethz-asl/rovio [2]  https://github.com/ethz-asl/kindr [2]  https://www.cnblogs.com/Jessica-jie/p/6607719.html

1. Requirements (1) ROS Kinetic (2) OpenCV (3) Boost (4) Eigen (5) fast $ git clone https://github.com/uzh-rpg/fast $ cd fast $ mdkir build $ cd build $ cmake .. $ make 2. Compile $ cd ANY_PATH $ mkdir catkin_ws  $ cd catkin_ws  $ mkdir src $ cd src   $ git clone https://github.com/daniilidis-group/msckf_mono $ cd ANY_PATH/catkin_ws  $ catkin_make  $ source devel/setup.bash *Solution for the fatal error:  msckf_mono/StageTiming.h: No such file or directory [2] Reference: [1]  https://github.com/daniilidis-group/msckf_mono [2]  https://github.com/daniilidis-group/msckf_mono/issues/21 [3]  csdn blog

1. Installation (1) boost $ sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev (2) Eigen $ sudo apt-get install libeigen3-dev (3) Gflags $ git clone https://github.com/gflags/gflags $ mkdir build $ cd build $ cmake .. -DBUILD_SHARED_LIBS=ON -DBUILD_STATIC_LIBS=ON -DBUILD_gflags_LIB=ON $ make -j2 $ sudo make install (4) Glog $ git clone https://github.com/google/glog $ export LDFLAGS='-L/usr/local/lib' $ ./autogen.sh $ ./configure  $ make -j2  $ sudo make install (5) OpenCV [3] $ cd ~ $ wget -O opencv.zip https://github.com/Itseez/opencv/archive/4.3.0.zip $ unzip opencv.zip $ cd opencv $ wget -O opencv_contrib.zip https://github.com/Itseez/opencv_contrib/archive/4.3.0.zip $ unzip opencv_contrib.zip $ mkdir build $ cd build $ cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX= /usr/local -D OPENCV_GENERATE_PKGCONFIG=ON -DOPENCV_EXTRA_MODULES_PATH=../opencv_contrib-4.3.0/modules $ make -j2 $ sudo mak