Lidar论文学习

文章复现-speed and accuracy tradeoff for LiDAR Data…&＃64;作者

初出茅庐-文章复现
文章复现大致包括&＃xff1a;环境配置&＃43;数据复现&＃43;个人数据库尝试

环境配置
vpn: https://www.maomi.in/user/tutorial?os&＃61;linux&client&＃61;clash##

https://github.com/wangguojun2018/LidarRoadBoundaryDetection

Install proto3
Please check README.md for proto3 installation instructions.
软件包&＃xff1a;
安装后&＃xff1a;更新protobu文件
protoc -I&＃61;S R C D I R − − c p p o u t &＃61; SRC_DIR --cpp_out&＃61;SRC
D
​
IR−−cpp
o
​
ut&＃61;DST_DIR $SRC_DIR/addressbook.proto
例如&＃xff1a;当前目录里的proto
protoc -I&＃61;./ --cpp_out&＃61;./ xxx.proto

Install glog
原文的打不开&＃xff0c;现在用的pip install glog

Install OpenCV 3.4.5&＃43;&＃43; and PCL 1.7&＃43;&＃43;

opencv 安装-参考链接&＃xff1a;
https://www.cnblogs.com/phyger/p/14069437.html

原文俩出小修改&＃xff1a;
修改1&＃xff1a;opencv_contrib 无法下载&＃xff0c;可从下链接下载&＃xff1a;
https://github.com/opencv/opencv_contrib/tree/3.4.5

修改2&＃xff1a;
opencv安装opencv_contrib出现无法打开包括文件: “opencv2/xfeatures2d/cuda.hpp”的解决方法&＃xff1a;
这里比较简单的就是直接改掉头文件

解决办法&＃xff1a; 在CMakeLists.txt增加以下内容&＃xff1a; &＃xff08;这里原文有点问题&＃xff0c;大家注意修改一个是路径&＃xff0c;还有一个是版本是自己安装的opencv版本&＃xff09;INCLUDE_DIRECTORIES("<你的路径>/opencv-3.4.5/opencv_contrib-3.4.5/modules/xfeatures2d/include")
CMakeLists.txt文件所在路径为&＃xff1a; <你的路径>/opencv-3.4.5/modules/stitching/ CMakeLists.txt

验证是否安装成功&＃xff1a;
首先ubuntu打开相机&＃xff1a;
直接在活动中找到茄子&＃xff08;cheese&＃xff09;&＃xff0c;如果没有请安装&＃xff1a;sudo apt-get install cheese

opencv demo验证&＃xff1a;
cd <你的路径>/opencv-3.4.5/samples/cpp/example_cmake
cmake.
make
./opencv_example
如果能打开相机说明成功&＃xff01;&＃xff01;&＃xff01;&＃xff01;&＃xff01;&＃xff01;&＃xff01;

PCL安装 - 参考链接&＃xff1a;
https://blog.csdn.net/HHT0506/article/details/104439748
我在20.04.3实验成功

limbo build&＃xff1a;
clone limbo
cd LidarRoadBoundaryDetection
git clone https://github.com/resibots/limbo

Build limbo
Then please check official documentation to build and intall limbo&＃xff1a;https://github.com/resibots/libcmaes
有时候网络问题&＃xff1a;GitHub的文件无法clone&＃xff0c;需要翻墙。

目前这里有些问题&＃xff0c;好像没有编成&＃xff0c;导致demo frame无法运行。

编译问题&＃xff1a;
1 error&＃xff1a;#error PCL requires C&＃43;&＃43;14 or above
解决&＃xff1a;在CMakeList中新增一句&＃xff1a;
set(CMAKE_CXX_STANDARD 14)
2 boost ‘boost::mutex’ has not been declared:
解决&＃xff1a; 安装boost
https://blog.csdn.net/hailangdeyingzi/article/details/73527877
上面不行&＃xff0c;试试&＃xff1a;
www.cnblogs.com/oracleloyal/p/6060779.html

boost 测试代码&＃xff1a;
https://blog.csdn.net/Jailman/article/details/86150810?utm_medium&＃61;distribute.pc_relevant.none-task-blog-2defaultbaidujs_title~default-1.essearch_pc_relevant&spm&＃61;1001.2101.3001.4242.2

main_thread.cpp修改&＃xff1a;
添加头文件&＃xff1a;
#include
#include

bug补充&＃xff1a;
intel TBB Installation
https://blog.csdn.net/weixin_35782556/article/details/113584141?utm_medium&＃61;distribute.pc_relevant.none-task-blog-2defaultbaidujs_title~default-5.no_search_link&spm&＃61;1001.2101.3001.4242.4
copy reference below:
https://blog.csdn.net/tfb760/article/details/106096245
下载&＃xff1a;
first:选择合适的版本分支
最后&＃xff1a;
注意添加路径需要修改自己的路径

test
cd examples
make

NLopt Installation
https://blog.csdn.net/eaglecoder/article/details/104335822?utm_medium&＃61;distribute.pc_aggpage_search_result.none-task-blog-2aggregatepagefirst_rank_ecpm_v1~rank_v31_ecpm-1-104335822.pc_agg_new_rank&utm_term&＃61;nlopt%E5%AE%89%E8%A3%85&＃43;ubuntu&spm&＃61;1000.2123.3001.4430

交叉编译工具安装&＃xff1a;
gcc: https://blog.csdn.net/weixin_33672400/article/details/93757824
sudo apt-get install gcc-arm-linux-gnueabi
g&＃43;&＃43;:
sudo apt-get install g&＃43;±arm-linux-gnueabi

locate: https://blog.csdn.net/chenshe1571/article/details/100714197
locate如果没有反应&＃xff1a;可以试试关闭终端再打开&＃43; sudo updatedb

limbo build:

error:
/usr/bin/ld: 当搜索用于 /usr/local/lib/libnlopt.a 时跳过不兼容的 -lnlopt

尝是不是NLopt安装不成功。

更新nlopt安装方式&＃xff1a;
http://www.resibots.eu/limbo/tutorials/compilation.html
./configure --with-cxx --enable-shared --without-python --without-matlab --without-octave
make
sudo make install

limbo build成功

出现return errr

usr/bin/ld: lib/libextract.a(road_boundary.pb.cc.o)&＃x1f626;.data.rel.ro&＃43;0x50): more undefined references to &＃96;google::protobuf::Message::CopyWithSizeCheck(google::protobuf::Message*, google::protobuf::Message const&)’ follow
collect2: error: ld returned 1 exit status
以下操作仍然不能解决&＃xff0c;但proto安装成功
proto anzhuang gengxin:
https://github.com/protocolbuffers/protobuf/blob/master/src/README.md
https://blog.csdn.net/kdchxue/article/details/81046192

上个 error solved!

/home/gj/lidar/LidarRoadBoundaryDetection/limbo/src/limbo/serialize/text_archive.hpp:72:35: error: variable ‘std::ofstream ofs’ has initializer but incomplete type
72 | std::ofstream ofs(fname(object_name).c_str());

头文件添加&＃xff1a;
#include

最新 error&＃xff1a;
应该是protobuf问题

CMakeLists做了如下修改&＃xff1a;

cmake_minimum_required(VERSION 2.8)

project(boundary_detection)

set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_FLAGS “-std&＃61;c&＃43;&＃43;11 -march&＃61;native”)
set(CMAKE_BUILD_TYPE Release CACHE STRING “set build type to release”)
set(CMAKE_MODULE_PATH CMAKEMODULEPATH"{CMAKE_MODULE_PATH} "CMAKEM​ODULEP​ATH"{CMAKE_CURRENT_LIST_DIR}/cmake")
set(LIMBO_INCLUDE_DIRS ./limbo/src)

find_package(OpenMP REQUIRED)
find_package(Protobuf REQUIRED)
if(PROTOBUF_FOUND)
message(STATUS “protobuf library found”)
else()
message(FATAL_ERROR “protobuf library is needed but cant be found”)
endif()

find_package(Boost)
find_package(PCL REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(OpenCV REQUIRED)
find_package(Glog REQUIRED)

include_directories(/home/gj/lidar/LidarRoadBoundaryDetection/limbo/src
${PCL_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS}
${Qt5Charts_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS}
${LIMBO_INCLUDE_DIRS} ${Protobuf_INCLUDE_DIRS} GLOGINCLUDEDIRS.)INCLUDEDIRECTORIES({GLOG_INCLUDE_DIRS} .) INCLUDE_DIRECTORIES(GLOGI​NCLUDED​IRS.)INCLUDED​IRECTORIES({CMAKE_CURRENT_BINARY_DIR})

link_directories(${PCL_LIBRARY_DIRS} /home/gj/lidar/LidarRoadBoundaryDetection/limbo/build/src)
protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS road_boundary.proto)

protobuf_generate_cpp(road_boundary.pb.cpp road_boundary.pb.h road_boundary.proto)

add_definitions(${PCL_DEFINITIONS})

add_subdirectory(./lib)

#add_library(extract ${SRC})
#target_link_libraries(extract ${PCL_LIBRARIES} OpenMP::OpenMP_CXX)

add_executable(demo_frame src/main.cpp)

target_link_libraries(demo_frame ${PCL_LIBRARIES} ${OpenCV_LIBS} extract
${Protobuf_LIBRARIES} ${GLOG_LIBRARIES})

add_executable(demo_video src/main_thread.cpp ${PROTO_SRCS} ${PROTO_HDRS})

target_link_libraries(demo_video ${PCL_LIBRARIES} ${OpenCV_LIBS} extract
${Protobuf_LIBRARIES} ${GLOG_LIBRARIES})

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版权声明&＃xff1a;本文为CSDN博主「mark_GJ」的原创文章&＃xff0c;遵循CC 4.0 BY-SA版权协议&＃xff0c;转载请附上原文出处链接及本声明。
原文链接&＃xff1a;https://blog.csdn.net/mark_GJ/article/details/121210107