orbslam_semantic_nav_ros 编译出现的问题1

安装环境 ubuntu20.04
ros NODES
项目链接：
https://github.com/MRwangmaomao/semantic_slam_nav_ros

安装腾讯ncnn库

其他库
opencv 3.4.9
eigen 3.4.0
pangolin 已安装

vtk5
自带的是 vtk-7.1 建议自己源码安装
下载链接：https://vtk.org/download/
下载了vtk 7.1
mkdir build
cd build
cmake …
make -j8
sudo make install

方法二需要

配置环境变量

打开~/.bashrc 文件并添加以下行

export VTK_DIR=/usr/local/lib/cmake/vtk-7.1
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib

参考了：https://blog.csdn.net/qq_54199287/article/details/134136943

pcl 1.7

推荐：
-> pcl-1.7.2 vtk-5.10.1 / vtk-6.2.0
-> pcl-1.8.1 vtk-7.1.1
-> pcl-1.9.1 vtk-8.2.0（建议8.1）
pcl 1.12 vt7.1也有人这样安装编译但是对于我们的呢

1.7.2版本与当前的eigen版本产生冲突尝试一下新的尝试pcl-1.10.1

mkdir  build
cd build
cmake ..
make -j8   
sudo make install
下载链接：https://github.com/PointCloudLibrary/pcl/tree/pcl-1.10.1

卸载pcl需要修改里面的内容

sudo make uninstall
sudo rm -r build
sudo rm -r /usr/include/pcl-1.10 /usr/share/pcl /usr/bin/pcl* /usr/lib/libpcl*
sudo rm -r  /usr/libx86_64-linux-gnu/libpcl*
sudo rm -r /usr/lib/x86_64-linux-gnu/cmake/pcl

可能出现的错误！：

CMake Error at /opt/ros/noetic/share/pcl_ros/cmake/pcl_rosConfig.cmake:117 (message):Project 'pcl_ros' specifies '/usr/include/pcl-1.10' as an include dir,which is not found.  It does neither exist as an absolute directory nor in'${{prefix}}//usr/include/pcl-1.10'.  Check the issue tracker'https://github.com/ros-perception/perception_pcl/issues' and considercreating a ticket if the problem has not been reported yet.
Call Stack (most recent call first):/opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package)semantic_slam_nav_ros/CMakeLists.txt:56 (find_package)
解决：
sudo cp -r '/opt/ros/noetic/include/pcl_ros' '/usr/include/pcl-1.10'

解决办法但是这个方法可以解决该问题，但是对于之前的报错依旧不管用！！！
https://blog.csdn.net/weixin_43971588/article/details/133157581

不知道是什么原因，第一次安装的时候并没有这个错误！！！
安装了PCL1.10 还是会出现相关保存问题在编译过程中

因此尝试新版本的pcl1.12
https://blog.csdn.net/weixin_40653140/article/details/126282010

同样安装了pcl1.12后还是报错：
CMake Error at /opt/ros/noetic/share/pcl_ros/cmake/pcl_rosConfig.cmake:117 (message):
Project ‘pcl_ros’ specifies ‘/usr/include/pcl-1.10’ as an include dir,
which is not found. It does neither exist as an absolute directory nor in
‘${{prefix}}//usr/include/pcl-1.10’. Check the issue tracker
‘https://github.com/ros-perception/perception_pcl/issues’ and consider
creating a ticket if the problem has not been reported yet.
Call Stack (most recent call first):
/opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package)
semantic_slam_nav_ros/CMakeLists.txt:56 (find_package)

这是安装了多版本的pcl ，ros自带的pcl以及自己的pcl版本
https://blog.csdn.net/qq_42731705/article/details/129380907
pcl指定自己的版本
这样就把这个问题解决但是这种操作是否有问题不太清楚
https://blog.csdn.net/qq_42731705/article/details/129380907

安装pcl1.8出现的问题参考：
boost版本问题修改头文件路径即可
1.https://blog.csdn.net/weixin_45534376/article/details/132864676
pcl与eigen版本问题修改源代码中的用法即可
2.https://blog.csdn.net/weixin_42621405/article/details/119853242

编译源码出现新问题：
报错1.1：
/home/ckq/catkin_ws_iit/src/semantic_slam_nav_ros/orbslam/include/MergeSG.h:176:66: error: wrong number of template arguments (3, should be at least 1)
pcl::EuclideanClusterComparator<PointT, pcl::Normal, pcl::Label>::Ptr euclidean_cluster_comparator_;

octomap 安装
下载地址：https://github.com/OctoMap/octomap

mkdir  build
cd build
cmake ..
make -j8   
sudo make install

进行了安装

直接安装会出现问题，
在make阶段报错内容是：
[100%] Linking CXX executable …/…/bin/octovis
/usr/bin/ld: …/…/octovis/src/extern/QGLViewer/libQGLViewer.so: undefined reference to `__cxa_throw_bad_array_new_length@Qt_5’
collect2: error: ld returned 1 exit status
make[2]: *** [octovis/CMakeFiles/octovis.dir/build.make:360: …/bin/octovis] Error 1
make[1]: *** [CMakeFiles/Makefile2:1884: octovis/CMakeFiles/octovis.dir/all] Error 2
可以参考：
https://blog.csdn.net/liu13364876993/article/details/110188553
就可以解决以上问题

测试八叉树安装成功与否：
https://www.codenong.com/cs105964310/

参考各种库版本对应关系https://blog.csdn.net/qq_41049423/article/details/129391823

ubuntu20.04下安装pcl_ubuntu安装pcl
https://blog.csdn.net/feichangyanse/article/details/135162334

安装pcl之前安装好 vtk

别人安装教程：
ubuntu16.04 配置qt5.9+VTK5.10+pcl1.7 (orbslam_semantic_nav_ros依赖库1)
https://blog.csdn.net/qq_45539458/article/details/106390709

ubuntu16.04 配置opencv3.4+pangolin+octomap (orbslam_semantic_nav_ros依赖库2)
https://blog.csdn.net/qq_45539458/article/details/106411290

安装科大讯飞语音相关库
注册网址链接：
https://www.xfyun.cn/services/voicedictation
暂时先不注册获取api

参考链接：https://blog.csdn.net/lion_no_back/article/details/129463403

安装依赖：

sudo apt-get install libasound2-dev #asound库
sudo apt-get install mplayer #mplayer工具

安装百度aip相关库

sudo apt-get install ros-noetic-image-view
sudo apt-get install libjsoncpp-dev
sudo apt-get install openssl
sudo apt-get install curl

申请百度api：
https://blog.csdn.net/muaamua/article/details/134368227
https://blog.csdn.net/he99774/article/details/126488907

api网站：
https://cloud.baidu.com/?from=console

cmakelist.txt
修改opencv版本 C++14 以及ros的正确版本
开始下载源码进行编译

mkdir -p catkin_ws/src
git clone git@github.com:MRwangmaomao/semantic_slam_nav_ros.git
cd ..
catkin_make

编译报错
报错1：
/home/ckq/catkin_ws_iit/src/semantic_slam_nav_ros/aip-cpp/src/gesture_pub_node.cpp:20:10: fatal error: slam_semantic_nav_ros/Gesture.h: No such file or directory
#include “slam_semantic_nav_ros/Gesture.h”
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

”

忘记怎么解决了，总之作者需要的文件 都给他准备好就没有这个问题了

报错2：
/home/ckq/catkin_ws_iit/src/semantic_slam_nav_ros/aip-cpp/include/base/http.h:23:10: fatal error: json/json.h: No such file or directory
#include <json/json.h>

这个错误消息表明编译过程中找不到名为 “json/json.h” 的头文件，这通常是因为缺少相应的依赖项或包。要解决这个问题，您可以按照以下步骤操作：

确认是否安装了 JSON 头文件：首先，确保您的系统上安装了 JSON 头文件。通常，JSON 头文件位于一个名为 “json-c” 的包中。您可以使用以下命令检查是否安装了该包：
dpkg -l | grep libjson-c-dev
如果未安装该包，可以使用以下命令安装它：

   sudo apt-get install libjson-c-dev

检查编译选项：在您的项目中，确保在 CMakeLists.txt 或编译选项中正确包含 JSON 头文件的路径。通常，您需要在 CMakeLists.txt 文件中设置 include_directories，以指定包含头文件的目录，例如：
```
include_directories(/usr/include/json-c)
```
请确保路径与您的系统上安装的 JSON 头文件路径相匹配。
重新编译项目：完成上述步骤后，重新运行编译命令以重新编译您的项目。这应该解决找不到 “json/json.h” 头文件的问题。

https://blog.csdn.net/qq_41821678/article/details/120331269

电脑上已经安装了，
执行以下内容：
sudo ln -s /usr/include/jsoncpp/json/ /usr/include/json

报错3：
/usr/include/pcl-1.10/pcl/pcl_config.h:7:4: error: #error PCL requires C++14 or above
#error PCL requires C++14 or above

代码中的cmakelist.txt文件

#检查c++11或者 c++0x 编译支持  Check C++11  or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++1")add_definitions(-DCOMPILEDWITHC11)message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")add_definitions(-DCOMPILEDWITHC0X)message(STATUS "Using flag -std=c++0x.")
else()message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

改为

#检查c++11或者 c++0x 编译支持  Check C++ 14 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)if(COMPILER_SUPPORTS_CXX14)set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")add_definitions(-DCOMPILEDWITHC11)message(STATUS "Using flag -std=c++14.")
elseif(COMPILER_SUPPORTS_CXX0X)set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")add_definitions(-DCOMPILEDWITHC0X)message(STATUS "Using flag -std=c++0x.")
else()message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler.")
endif()

报错3：

/home/ckq/catkin_ws_iit/src/semantic_slam_nav_ros/costmap/src/lrgbd2xz.cpp:89:5: error: ‘cvWaitKey’ was not declared in this scopecvWaitKey(1);^~~~~~~~~
/home/ckq/catkin_ws_iit/src/semantic_slam_nav_ros/costmap/src/lrgbd2xz.cpp: In member function ‘void LRGBDCostMap::drawCross()’:
/home/ckq/catkin_ws_iit/src/semantic_slam_nav_ros/costmap/src/lrgbd2xz.cpp:172:26: error: ‘cvPoint’ was not declared in this scopecv::line(costmap2d_, cvPoint(map_image_w_/2-cross_line_size/2,map_image_h_/2), cvPoint(map_image_w_/2+cross_line_size/2, map_image_h_/2), cv::Scalar(255,255,0), 1, 8, 0);

这是opencv没找到
把

#opencv  模块 版本大于 2.4.3
#set(OpenCV_DIR "~/code/catkin_ws/other/opencv-3.4.3/build")
find_package(OpenCV QUIET)
#message(FATAL_ERROR ${OpenCV_LIBS})
if(NOT OpenCV_FOUND)find_package(OpenCV 2.4.3 QUIET)if(NOT OpenCV_FOUND)message(FATAL_ERROR "OpenCV > 2.4.3 not found.")endif()
endif()

改为

set(OpenCV_DIR /home/ckq/Software/opencv-3.4.9/build)
find_package(OpenCV QUIET)
此外还需要修改 代码的写法
cvWaitKey 改为 cv::waitKey
cvPoint 改为： cv::Point

原因是之前的写法是在旧版本opencv 现在新版本的opencv都是这种写法

报错4：

/home/ckq/catkin_ws_iit/src/semantic_slam_nav_ros/orbslam/src/Detector.cc:127:50: error: ‘CV_FILLED’ was not declared in this scopecv::Scalar(255, 255, 255), CV_FILLED);

修改

CV_FILLED为 cv::FILLED

报错5：

/home/ckq/catkin_ws_iit/src/semantic_slam_nav_ros/orbslam/src/RunDetect.cc:73:21: error: ‘cvWaitKey’ was not declared in this scopecvWaitKey(30);cvWaitKey(30)改为   cv::waitKey(30);

报错5：

/usr/include/pcl-1.10/pcl/segmentation/euclidean_cluster_comparator.h:256:13: error: no matching function for call to ‘std::set<unsigned int>::insert(std::size_t&) const’exclude_labels_->insert (i);std::set<unsigned int>::insert(std::size_t&) const’exclude_labels_->insert (i);问题所在：pcl1.10自身的问题
https://github.com/PointCloudLibrary/pcl/issues/5031

报错1：

/home/ckq/catkin_ws_iit/src/semantic_slam_nav_ros/orbslam/include/MergeSG.h:176:66: error: wrong number of template arguments (3, should be at least 1)pcl::EuclideanClusterComparator<PointT, pcl::Normal, pcl::Label>::Ptr euclidean_cluster_comparator_;
修改为：
pcl::EuclideanClusterComparator<PointT>::Ptr euclidean_cluster_comparator_;

报错2：

error: no match for ‘operator=’ (operand types are ‘pcl::PointCloud<pcl::PointXYZRGBA>::Ptr {aka std::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >}’ and ‘boost::detail::sp_if_not_array<pcl::PointCloud<pcl::PointXYZRGBA> >::type {aka boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGBA> >}’)globalMap = boost::make_shared< PointCloud >(); // 全局点云地图 共享指针

修改为：

```cpp
globalMap = std::make_shared<pcl::PointCloud<pcl::PointXYZRGBA>>();

同样的报错```cpp
error: no matching function for call to ‘pcl::ExtractIndices<pcl::PointXYZRGB>::setIndices(boost::detail::sp_if_not_array<const pcl::PointIndices>::type)’mExtractInd.setIndices (boost::make_shared<const pcl::PointIndices> (indices));

报错3：

/home/ckq/catkin_ws_iit/src/semantic_slam_nav_ros/orbslam/src/MergeSG.cc:22:98: error: wrong number of template arguments (3, should be at least 1)euclidean_cluster_comparator_(new pcl::EuclideanClusterComparator<PointT, pcl::Normal, pcl::Label>)/home/ckq/catkin_ws_iit/src/semantic_slam_nav_ros/orbslam/src/MergeSG.cc:398:69: error: no matching function for call to ‘pcl::EuclideanClusterComparator<pcl::PointXYZRGB>::setExcludeLabels(std::shared_ptr<const std::vector<bool> >&)’euclidean_cluster_comparator_->setExcludeLabels(plane_labels_ptr);

报错4：

/home/ckq/catkin_ws_iit/src/semantic_slam_nav_ros/dense_surfel_mapping/src/surfel_map.cpp:767:46:   required from here
/opt/ros/noetic/include/ros/message_traits.h:125:14: error: ‘const class std::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >’ has no member named ‘__getMD5Sum’return m.__getMD5Sum().c_str();/home/ckq/catkin_ws_iit/src/semantic_slam_nav_ros/dense_surfel_mapping/src/surfel_map.cpp:767:46:   required from here
/opt/ros/noetic/include/ros/message_traits.h:142:14: error: ‘const class std::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >’ has no member named ‘__getDataType’return m.__getDataType().c_str();/home/ckq/catkin_ws_iit/src/semantic_slam_nav_ros/dense_surfel_mapping/src/surfel_map.cpp:767:46:   required from here
/opt/ros/noetic/include/ros/message_traits.h:125:14: error: ‘const class std::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >’ has no member named ‘__getMD5Sum’return m.__getMD5Sum().c_str();已经解决！！！ 详情看csdn的相关博客内容！！！