宁波建设工程学校_建站视频_域名是什么_故事式软文范例100字

1.环境配置

ubuntu20.04 + ROS-Noetic + GTSAM 4.0.2 + Ceres 1.14.0

前面的我都安装过了，但Ceres 我安装的是 2.2.0,现在安装Ceres 1.14.0

sudo apt-get update
sudo apt-get install cmake libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev

wget http://ceres-solver.org/ceres-solver-1.14.0.tar.gz
tar zxf ceres-solver-1.14.0.tar.gz
cd ceres-solver-1.14.0

mkdir build
cd build

cmake ..

make -j4

sudo make install

2.数据集下载

LVI-SAM数据集

3.搭建目录和clone代码

mkdir -p LVI-SAM/src
cd LVI-SAM/src

git clone https://github.com/TixiaoShan/LVI-SAM
cd ..

 4.修改代码

        4.1 CMakeLists.txt 的C++标准改为14：

set(CMAKE_CXX_FLAGS "-std=c++14")

第37行后面加入find_package(Boost REQUIRED COMPONENTS timer thread serialization chrono)

         4.2 

4.3

 

4.4

 

#include <opencv2/imgproc/imgproc_c.h>

5.编译

catkin_make -j4

 6.运行launch

source ./devel/setup.bash
roslaunch lvi_sam run.launch

7.运行上面下载的数据集

rosbag play handheld.bag

8.在RVIZ查看