XTDrone和PX4学习期间问题记录（一）
Written By PiscesAlpaca
前言：
出现问题可以去官方网站http://ceres-solver.org/index...查看文档，搜索引擎很难搜到对应的问题。（不过我写了这些问题的解决办法，没准以后就能搜到了hh
1.视觉SLAM篇
URL：视觉SLAM · 语雀
ORBSLAM2编译
编译依赖见ORBSLAM2编译依赖
注意该ORBSLAM2是在原版本基础上略做修改，其虽然支持ROS，但不是标准的ROS架构，因此不能采用catkin build编译。
cp -r ~/XTDrone/sensing/slam/vslam/ORB_SLAM2/ ~/catkin_ws/src/
mkdir ~/catkin_ws/scripts/
cp ~/catkin_ws/src/ORB_SLAM2/xtdrone* ~/catkin_ws/scripts/
cd ~/catkin_ws/src/ORB_SLAM2
chmod +x build.sh
./build.sh
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/catkin_ws/src/ORB_SLAM2/Examples/ROS #将这句放到~/.bashrc中，以后使用更方便
chmod +x build_ros.sh
./build_ros.sh
问题：在进行./build.sh时，遇到了make[2]: *** No rule to make target '../Thirdparty/DBoW2/lib/libDBoW2.so', needed by '../lib/libORB_SLAM3.so'. Stop.
解决办法：手动cd进目录ORB_SLAM3/Thirdparty/DBoW2/build，依次运行cmake ..和build -j4，之后就可以发现libDBoW2.so文件生成在lib目录下，再按照教程运行./build.sh即可100%完成编译。
2.三维激光SLAM篇
问题：在进行catkin_make命令时，遇到了`/home/pisces/catkin_ws/src/A- LOAM/src/laserOdometry.cpp:286:29: error: expected type-specifier
286 | new ceres::EigenQuaternionParameterization();
| ^~~~~ `
解决办法：
官方文档显示
EigenQuaternionParameterizationis deprecated. It will be
removed in version 2.2.0 of Ceres Solver. Please useEigenQuaternionManifoldinstead.
证明EigenQuaternionParameterization已经过时，需要使用EigenQuaternionManifold替换，即：
ceres::LocalParameterization *q_parameterization = new ceres::EigenQuaternionParameterization();替换为：``
ceres::LocalParameterization *q_parameterization = new ceres::EigenQuaternionManifold();3.视觉惯性里程计
问题：
`/home/pisces/catkin_ws/src/VINS-Fusion/camera_models/src/calib/CameraCalibration.cc:508:17: error: cannot convert ‘camodocal::EigenQuaternionParameterization’ to ‘ceres::LocalParameterization’ in initialization
new EigenQuaternionParameterization;
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~`
解决方法：更改ceres::LocalParameterization*为ceres::Manifold*
即
ceres::Manifold* quaternionParameterization =
new EigenQuaternionParameterization;问题：
`/home/pisces/catkin_ws/src/VINS-Fusion/camera_models/src/calib/CameraCalibration.cc:510:17: error: ‘class ceres::Problem’ has no member named ‘SetParameterization’; did you mean ‘SetParameterLowerBound’?
problem.SetParameterization(transformVec.at(i).rotationData(),
^~~~~~~~~~~~~~~~~~~
SetParameterLowerBound`
解决方法：
This method is deprecated and will be removed in Ceres Solver version 2.2.0. Please move to using the SetManifold instead.
即
problem.SetManifold(transformVec.at(i).rotationData(),
quaternionParameterization);问题：
`/home/pisces/catkin_ws/src/VINS-Fusion/global_fusion/src/globalOpt.cpp:109:72: error: expected type-specifier
ceres::LocalParameterization* local_parameterization = new ceres::QuaternionParameterization();
^~~~~`
解决方法：
QuaternionParameterizationis deprecated. It will be removed in version 2.2.0 of Ceres Solver. Please useQuaternionManifoldinstead.
即
ceres::Manifold* local_parameterization = new ceres::QuaternionManifold();问题：
`/home/pisces/catkin_ws/src/VINS-Fusion/camera_models/src/calib/CameraCalibration.cc:508:17: error: invalid new-expression of abstract class type ‘camodocal::EigenQuaternionParameterization’
new EigenQuaternionParameterization;
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~`
解决方法：本质是因为新继承的Manifold类出现了新的纯虚函数，只需要在EigenQuaternionParameterization类实现就行
在EigenQuaternionParameterization类public：下加入
virtual int AmbientSize() const {return 7;}
virtual int TangentSize() const {return 1;}
virtual bool PlusJacobian(const double* x, double* jacobian) const {return 1;}
virtual bool Minus(const double* y,
const double* x,
double* y_minus_x) const {return 1;}
virtual bool MinusJacobian(const double* x, double* jacobian) const {return 1;}即
class EigenQuaternionParameterization : public ceres::Manifold
{
public:
virtual ~EigenQuaternionParameterization() {}
virtual bool Plus(const double* x,
const double* delta,
double* x_plus_delta) const;
virtual bool ComputeJacobian(const double* x,
double* jacobian) const;
virtual int GlobalSize() const { return 4; }
virtual int LocalSize() const { return 3; }
//edit by PiscesAlpaca
virtual int AmbientSize() const {return 1;}
virtual int TangentSize() const {return 1;}
virtual bool PlusJacobian(const double* x, double* jacobian) const {return 1;}
virtual bool Minus(const double* y,
const double* x,
double* y_minus_x) const {return 1;}
virtual bool MinusJacobian(const double* x, double* jacobian) const {return 1;}
private:
template<typename T>
void EigenQuaternionProduct(const T z[4], const T w[4], T zw[4]) const;
};问题：
`/home/pisces/catkin_ws/src/VINS-Fusion/loop_fusion/src/pose_graph.h:134:24: error: ‘AutoDiffLocalParameterization’ in namespace ‘ceres’ does not name a template type
return (new ceres::AutoDiffLocalParameterization<AngleLocalParameterization,
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~`
解决方法：
AutoDiffParameterizationis deprecated. It will be removed in version 2.2.0 of Ceres Solver. Please useAutoDiffManifoldinstead.
即
static ceres::Manifold* Create() {
return (new ceres::AutoDiffManifold <AngleLocalParameterization,
1, 1>);
}注意：如果进行更改后编译提示缺少Plus和Minus函数，可以在pose_graph.h文件加入
class AngleLocalParameterization {
public:
template <typename T>
bool operator()(const T* theta_radians, const T* delta_theta_radians,
T* theta_radians_plus_delta) const {
*theta_radians_plus_delta =
NormalizeAngle(*theta_radians + *delta_theta_radians);
return true;
}
//edit by pisces
bool Plus(const double* x,
const double* delta,
double* x_plus_delta) {
return true;
}
//edit by pisces
bool Minus(const double* y,
const double* x,
double* y_minus_x) {
return true;
}
//edit by pisces
template <typename T>
bool Plus(const T* x,
const T* delta,
T* x_plus_delta) const{
return true;
}
//edit by pisces
template <typename T>
bool Minus(const T* y,
const T* x,
T* y_minus_x) const{
return true;
}
static ceres::Manifold* Create() {
return (new ceres::AutoDiffManifold <AngleLocalParameterization,
1, 1>);
}
};//edit by pisces为增加的函数
问题：
`/home/pisces/catkin_ws/src/VINS-Fusion/vins_estimator/src/estimator/../factor/pose_local_parameterization.h:16:49: error: invalid use of incomplete type ‘class ceres::LocalParameterization’
class PoseLocalParameterization : public ceres::LocalParameterization
^~~~~~~~~~~~~~~~~~~~~`
解决方法：更改ceres::LocalParameterization*为ceres::Manifold*
同本节问题1
问题：
`/home/pisces/catkin_ws/src/VINS-Fusion/loop_fusion/src/pose_graph.cpp:474:52: error: cannot convert ‘ceres::Manifold’ to ‘ceres::LocalParameterization’ in initialization
AngleLocalParameterization::Create();
^`
解决方法：
ceres::Manifold* angle_local_parameterization =
AngleLocalParameterization::Create();不过上述方法最终没有能够让VINS-Fusion接收到正确数据，还是对ceres进行了降级才实现，版本为1.14。如果有使用上述方法成功的读者可以在评论告诉我～
欢迎指出错误和不足~
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