CG-SpatialAI

Ubuntu 16.04 下 PVIO 的编译与运行

 
  • Mar 28, 2021
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[TOC]

Overview

  • code: https://github.com/zju3dv/PVIO

  • paper

    @inproceedings{PRCV-LiYHZB2019,
  author={Jinyu Li and Bangbang Yang and Kai Huang and Guofeng Zhang and Hujun Bao},
  title     = {Robust and Efficient Visual-Inertial Odometry with Multi-plane Priors},
  booktitle = {Pattern Recognition and Computer Vision - Second Chinese Conference,
               {PRCV} 2019, Xi'an, China, November 8-11, 2019, Proceedings, Part {III}},
  series    = {Lecture Notes in Computer Science},
  volume    = {11859},
  pages     = {283--295},
  publisher = {Springer},
  year      = {2019}
}

Note: 本博客主要是记录下在本人Ubuntu 16.04的PC平台上编译时遇到的问题和解决办法。

Build

Dependencies

  • cmake 3.18.0
  • GCC 9.3.0
  • Eigen 3.3.7
  • Ceres Solver 1.14.0
  • OpenCV-3.3.1 (from ROS kinetic)
  • FFMPEG 4.3.2

Build

  • download 
    git clone https://github.com/zju3dv/PVIO.git
  • cmake 
    cd PVIO && mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..

    Tips: 执行 cmake 过程中会下载 GIT_REPOSITORY，因网络原因可能导致部分下载失败，可改善网络或者多执行几次直到全部下载下来。

  • make 
    make -j1

Errors when make

  • error: ‘::av_packet_alloc’ has not been declared

    解决办法：升级 FFMPEG（之前是FFMPEG2） 和 对应的 libavcodec

    sudo add-apt-repository ppa:jonathonf/ffmpeg-4
sudo apt update
sudo apt install ffmpeg
ffmpeg -version

sudo apt install libavcodec-dev

  • /usr/lib/x86_64-linux-gnu/libavutil.so: undefined reference to clEnqueueWriteImage@OPENCL_1.0

    解决办法：

    因我之前装了cuda8，libavutil.so 链接到了 cuda 中的 libOpenCL.so.1

    使其链接到 /usr/lib/x86_64-linux-gnu/ 中的 libOpenCL.so.1 即可。

    cd /usr/local/cuda-8.0/lib64
sudo unlink libOpenCL.so.1
sudo ln -s /usr/lib/x86_64-linux-gnu/libOpenCL.so.1.0.0 libOpenCL.so.1

Run

  • run with dataset 
    ./pvio-pc/pvio-pc euroc:///home/cg/dev_sdb/datasets/ETH_ASL_Datasets/EuRoC_MAV/V1_01_easy/mav0 ../config/euroc.yaml

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