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ubuntu20.04 成功编译并运行 OpenREALM

🕗 发布于 2024-12-08 16:21 openrealm  ros  slam  ubuntu  3d  

文章目录


目前使用 ubuntu20.04 成功编译并运行 OpenREALM 项目。

1、项目 OpenREALM 编译

项目地址 https://github.com/laxnpander/OpenREALM

项目依赖很多，且最后编译输出为静态库。

下载项目库，并更新子模块

git clone https://github.com/laxnpander/OpenREALM.git
cd OpenREALM
# For 3D reconstruction with Plane Sweep Lib (PSL)
git submodule init
git submodule update

安装依赖，可以一键执行

cd OpenREALM/tools
chmod u+x install_deps.sh
./install_deps.sh

如果安装失败后，再次执行 install_deps.sh 脚本会失败（提示目录不为空），那么需要删除未完成的项目目录，或者打开sh脚本将对应依赖项目的命令行复制到终端手动执行。

在安装最后一个vslam依赖项目时，需要依赖 pangolin 库，实测需要降级到v0.6版本才能正常编译通过：

git clone -b v0.6 https://github.com/stevenlovegrove/Pangolin.git

cd Pangolin
./scripts/install_prerequisites.sh recommended

cmake -B build
cmake --build build
cd build
make install

结束后，到 OpenREALM 目录，编译并安装

cd OpenREALM
mkdir build && cd build
cmake ..
make all
sudo make install

如果在编译过程中提示pangolin的错误，尝试清理重新编译安装Pangolin后，再次编译OpenREALM 项目。

2、项目 OpenREALM_ROS1_Bridge 编译

官方默认使用 ubuntu 16.04和 18.04。 我这里直接使用 ubuntu 20.04 ，且用 ros1最后一个版本 noetic。

强烈推荐 ros 安装使用 鱼香ros 的脚本，直接运行以下命令行即可一键安装

wget http://fishros.com/install -O fishros && . fishros

运行后根据提示操作。

安装可能需要的库

sudo apt install -y -q ros-$ROS_DISTRO-geographic-msgs
sudo apt install -y -q ros-$ROS_DISTRO-geodesy
sudo apt install -y -q ros-$ROS_DISTRO-cv-bridge
sudo apt install -y -q ros-$ROS_DISTRO-rviz
sudo apt install -y -q ros-$ROS_DISTRO-pcl-ros
sudo apt install libopencv-dev

sudo apt install libvtk7-dev
sudo apt install vtkParseOGLExt
sudo apt install libboost-dev

2.1、编译时可能出现错误

2.1.1、缺少头 realm_core的 文件

编译提示 realm_core/utm32.h、realm_core/cv_grid_map.h、realm_core/enums.h 不存在

在 /realm_ros/CMakeLists.txt 文件的 target_link_libraries 下添加库依赖 realm_stages

target_link_libraries(${PROJECT_NAME} PUBLIC
${catkin_LIBRARIES}
${cmake_modules_LIBRARIES}
${OpenCV_LIBRARIES}

realm_stages
)

2.1.2、缺少 boost 相关的库

查找相关库，并加入库依赖

find_package(Boost COMPONENTS thread filesystem date_time system REQUIRED)

target_link_libraries(${PROJECT_NAME} PUBLIC
${catkin_LIBRARIES}
${cmake_modules_LIBRARIES}
${OpenCV_LIBRARIES}

realm_stages

${Boost_FILESYSTEM_LIBRARIES}
${Boost_SYSTEM_LIBRARIES}
)

2.1.3、提示缺少 FLANN

CMake Error at OpenREALM_ROS1_Bridge/realm_ros/CMakeLists.txt:165 (add_executable):
  Target "realm_exiv2_grabber" links to target "FLANN::FLANN" but the target
  was not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?


CMake Error at OpenREALM_ROS1_Bridge/realm_ros/CMakeLists.txt:161 (add_executable):
  Target "realm_ros_grabber" links to target "FLANN::FLANN" but the target
  was not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?


CMake Error at OpenREALM_ROS1_Bridge/realm_ros/CMakeLists.txt:118 (add_library):
  Target "realm_ros" links to target "FLANN::FLANN" but the target was not
  found.  Perhaps a find_package() call is missing for an IMPORTED target, or
  an ALIAS target is missing?


CMake Error at OpenREALM_ROS1_Bridge/realm_ros/CMakeLists.txt:169 (add_executable):
  Target "realm_stage_node" links to target "FLANN::FLANN" but the target was
  not found.  Perhaps a find_package() call is missing for an IMPORTED
  target, or an ALIAS target is missing?

增加 add_library(FLANN::FLANN INTERFACE IMPORTED)

2.1.4、缺少 CGAL 库

/usr/bin/ld: cannot find -lCGAL
collect2: error: ld returned 1 exit status
make[2]: *** [OpenREALM_ROS1_Bridge/realm_ros/CMakeFiles/realm_ros.dir/build.make:447: /home/ubunru/catkin_ws/devel/lib/librealm_ros.so] Error 1
make[1]: *** [CMakeFiles/Makefile2:2072: OpenREALM_ROS1_Bridge/realm_ros/CMakeFiles/realm_ros.dir/all] Error 2
make: *** [Makefile:141: all] Error 2

增加 find_package(CGAL REQUIRED)

2.1.5、缺少符号链接 pthread

/usr/bin/ld: /usr/local/lib/libopen_realm_core-1.0.0.a(worker_thread_base.cpp.o): undefined reference to symbol 'pthread_getspecific@@GLIBC_2.2.5'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libpthread.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
make[2]: *** [OpenREALM_ROS1_Bridge/realm_ros/CMakeFiles/realm_stage_node.dir/build.make:391: /home/ubunru/catkin_ws/devel/lib/realm_ros/realm_stage_node] Error 1
make[1]: *** [CMakeFiles/Makefile2:2791: OpenREALM_ROS1_Bridge/realm_ros/CMakeFiles/realm_stage_node.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 98%] Linking CXX executable /home/ubunru/catkin_ws/devel/lib/realm_ros/realm_exiv2_grabber
/usr/bin/ld: /usr/local/lib/libopen_realm_core-1.0.0.a(worker_thread_base.cpp.o): undefined reference to symbol 'pthread_getspecific@@GLIBC_2.2.5'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libpthread.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
make[2]: *** [OpenREALM_ROS1_Bridge/realm_ros/CMakeFiles/realm_exiv2_grabber.dir/build.make:391: /home/ubunru/catkin_ws/devel/lib/realm_ros/realm_exiv2_grabber] Error 1
make[1]: *** [CMakeFiles/Makefile2:1920: OpenREALM_ROS1_Bridge/realm_ros/CMakeFiles/realm_exiv2_grabber.dir/all] Error 2
[100%] Linking CXX executable /home/ubunru/catkin_ws/devel/lib/realm_ros/realm_ros_grabber
[100%] Built target realm_ros_grabber
make: *** [Makefile:141: all] Error 2

在 target_link_libraries 中添加库依赖 libpthread.so

2.2、运行时错误

2.2.1、缺少链接库 g2o和 fbow

提示缺少 libg2o_csparse_extension.so、libfbow.so.0.0、libg2o_core.so、libg2o_stuff.so ，
实际查看已经是存在于 /usr/local/lib 目录中，并且ldd常看其他依赖库也用到了该目录。

窗口执行 export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib ，再次运行正常。
永久解决需添加到 /etc/profile 或 ~/.bashrc，之后重启或直接source。

2.2.2、插件 rviz_plugins/AerialMapDisplay 加载失败

[ERROR] [1733305650.273316877]: PluginlibFactory: The plugin for class 
'rviz_plugins/AerialMapDisplay' failed to load.  Error: According to the loaded plugin 
descriptions the class rviz_plugins/AerialMapDisplay with base class type 
rviz::Display does not exist. Declared types are  realm_rviz_plugin/GroundImage 
rviz/AccelStamped rviz/Axes rviz/Camera rviz/DepthCloud rviz/Effort rviz/FluidPressure 
rviz/Grid rviz/GridCells rviz/Illuminance rviz/Image rviz/InteractiveMarkers 
rviz/LaserScan rviz/Map rviz/Marker rviz/MarkerArray rviz/Odometry rviz/Path 
rviz/PointCloud rviz/PointCloud2 rviz/PointStamped rviz/Polygon rviz/Pose 
rviz/PoseArray rviz/PoseWithCovariance rviz/Range rviz/RelativeHumidity 
rviz/RobotModel rviz/TF rviz/Temperature rviz/TwistStamped rviz/WrenchStamped 
rviz_plugin_tutorials/Imu

安装对应插件即可， sudo apt install ros-$ROS_DISTRO-rviz-satellite

3、测试

数据库下载，谷歌云盘，文件大小为2.7G，自己科学上网。。。
下载地址 https://drive.google.com/open?id=1-2h0tasI4wzxZKLBbOz3XbJ7f5xlxlMe

下载后解压，如我的路径为 /home/ubuntu/Downloads/edm_big_overlap_50p，
在这里插入图片描述
修改启动文件 src/OpenREALM_ROS1_Bridge/realm_ros/launch/alexa_gnss.launch，设置输入图片目录的绝对路径

    <node pkg="realm_ros" type="realm_exiv2_grabber" name="realm_exiv2_grabber" output="screen">
        <param name="config/id" type="string" value="$(arg camera_id)"/>
        <param name="config/input" type="string" value="/home/ubuntu/Downloads/edm_big_overlap_50p"/>
        <param name="config/rate" type="double" value="10.0"/>
        <param name="config/profile" type="string" value="alexa_gnss"/>
        <!--param name="config/opt/poses" type="string" value=""/-->
        <!--param name="config/opt/surface_pts" type="string" value=""/-->
        <!--param name="config/opt/set_all_keyframes" type="bool" value="True"/-->
        <!--param name="config/opt/working_directory" type="string" value="/home/alex/Documents/OpenREALM"/-->
    </node>

在终端执行脚本

roslaunch realm_ros alexa_gnss.launch

结果截图如下：
在这里插入图片描述

由于默认地图使用google，国内无法加载，rviz界面有error，背景无显示。

需要自己替换可用的瓦片地图资源，修改位置为 src/OpenREALM_ROS1_Bridge/realm_ros/rviz 下的两个文件内容，Display部分、Name 为 AerialMapDisplay 对应的 Object URI 路径。

Object URI: http://mt0.google.com/vt/lyrs=y&hl=en&x={x}&y={y}&z={z}&s=Ga

在这里插入图片描述


原文地址：https://blog.csdn.net/wanggao_1990/article/details/144258978

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