视觉SLAM十四讲(高翔第二版)

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前言

在B站搜索slam,看高翔老师的视频

  1. 安张Ubuntu1804,然后学一下linux操作系统,简单看一下视频。
  2. 打开终端下载本书的程序

    git clone https://github.com/gaoxiang12/slambook2

    下载的程序不需要解压(不过有时候会下载不了,是因为github.com打不开),另外看一下终端地址,会下载到对应文件夹。
  3. 最好先简单看一下书,再对照着视频看。

    注意事项:
升级了 0 个软件包,新安装了 2 个软件包,要卸载 0 个软件包,有 88 个软件包未被升级。
需要下载 17.9 kB 的归档。
解压缩后会消耗 84.0 kB 的额外空间。
您希望继续执行吗? [Y/n] Y

当提示你要卸载软件包的时候,要注意。可以会破坏你的依赖环境。



一、3.7可视化演示程序运行全过程Pangolin plotTrajectory.cpp

参考https://blog.csdn.net/holly_Z_P_F/article/details/116324358



1.

在3rdparty中下载Pangolin

对应地址终端中 git clone https://github.com/stevenlovegrove/Pangolin;(有时候会终端下载不了,在网站上下载是一样的,不过需要解压一下)



2.

安装Pangolin.h

在(Pangolin/include/pangolin)

mkdir build
cd build 
cmake ..
make



3. 参考链接

https://blog.csdn.net/holly_Z_P_F/article/details/116324358



4. 打开plotTrajectory.cpp

按照3中修改(Vim,KDevelop, visual studio code都行,不过记得修改之后保存)



5. 然后

mkdir build
cd build 
cmake ..
make
./plotTrajectory

最后一步(注意:终端在build地址运行)

参考原文:https://blog.csdn.net/holly_Z_P_F/article/details/116324358



二、4.4.1Sophus的基本使用方法 useSophus.cpp



1.首先,按照书中的Sophus安装包进行安装,可能出现:

编译过程中可能会出现的问题:

/Sophus/sophus/so2.cpp:32:26: error: lvalue required as left operand of assignment
unit_complex_.real() = 1.;

/Sophus/sophus/so2.cpp:33:26: error: lvalue required as left operand of assignment
unit_complex_.imag() = 0.;

(原文链接:https://blog.csdn.net/Night___Raid/article/details/105113617)


该错误可以定位到so2.cpp源码文件下

:(更多问题可参考https://blog.csdn.net/haxiongha/article/details/82464148)

SO2::SO2()
{
  unit_complex_.real() = 1.;
  unit_complex_.imag() = 0.;
}

对应位置修改为


SO2::SO2()
{
  //unit_complex_.real() = 1.;
  //unit_complex_.imag() = 0.;
  unit_complex_.real(1.);
  unit_complex_.imag(0.);
}



2. 模板类Sophus


但是

,后续在ch4中进行编译可能会出现

fatal error: sophus/se3.hpp: 没有那个文件或目录

,这是由于书中给的Sophus库不是模板库。需要安装其模板库。

slam十四讲(第二版)中安装的为模板类Sophus,该sophus对eigen库的版本有要求,如果你有3.3以下的版本的eigen,那么请先卸载:

sudo rm -rf /usr/include/eigen3 /usr/lib/cmake/eigen3 /usr/share/doc/libeigen3-dev /usr/share/pkgconfig/eigen3.pc /var/lib/dpkg/info/libeigen3-dev.list /var/lib/dpkg/info/libeigen3-dev.md5sums  

安装eigen3.3以上版本(这里我选用最新的3.3.6,注意3.2系列的不可以!!!)

注意:千万不要使用 sudo apt-get install libeigen3-dev 因为这个命令下载的是3.2版本的eigen,从而无法与模板类的sophus相匹配




正确方法:

(1)在官网(http://eigen.tuxfamily.org/index.php?title=Main_Page)下载安装包:eigen-3.3.6.tar.bz2 ,然后提取到此处

(2)进入文件夹eigen-3.3.6,右键在终端打开。

(3)进行安装

mkdir build
cd build
cmake ..
sudo make install
Sophus安装

自己建立一个文件夹,在终端打开,然后

git clone https://github.com/strasdat/Sophus.git
cd Sophus/
 
mkdir build
cd build
cmake ..
make
sudo make install

且强调sudo make install一定要有,注意:sudo make install安装后会到usr/local/include/sophus下,可以打开看看,是不是有se3.hpp.


安装之后

,对useSophus.cpp进行编译运行(mkdir build, cd build, cmake … , make ),make过程中可能会出现

fatal error:Egien/Core 没有那个文件或者目录

这是由于和useSophue.cpp同一文件夹中的CMakeLists.txt,其第8行中的地址错误导致。

cmake_minimum_required(VERSION 3.0)
project(useSophus)

# 为使用 sophus,需要使用find_package命令找到它
find_package(Sophus REQUIRED)

# Eigen
include_directories("/usr/local/include/eigen3/")
add_executable(useSophus useSophus.cpp)
target_link_libraries(useSophus Sophus::Sophus)

add_subdirectory(example)

应将 “/usr/include/eigen3/“修改为“/usr/local/include/eigen3/”


此处错误修改的另一种方法:include

sudo cp -r /usr/local/include/eigen3/ /usr/include/eigen3/

意思是:将/usr/local/include/eigen3/地址下的文件复制到/usr/include/eigen3/

后续还可能出现错误:具体忘了

#include <ftm/> 

就是没有ftm库

方法:

git clone https://github.com/fmtlib/fmt
cd fmt/
 
mkdir build
cd build
cmake ..
make
sudo make install

最后,在对useSophus.cpp进行编译运行(mkdir build, cd build, cmake … , make )

还是在build下

./useSophus.cpp

版权声明:本文为CSDN博主「F.D.I.O.E.H.R」的原创文章,遵循CC 4.0 BY-SA版权协议,转载请附上原文出处链接及本声明。

原文链接:https://blog.csdn.net/Night___Raid/article/details/105113617



三、4.4.2 例子:评估轨迹的误差trajectoryError.cpp



问题1:没有链接fmt库

undefined reference to `vtable for fmt::v7::format_error'
undefined reference to `fmt::v7::detail::assert_fail(char const*, int, char const*)' 

是没有链接fmt库,链接上fmt 库应该就没问题。

target_link_libraries(trajectoryError ${Pangolin_LIBRARIES})

改为

target_link_libraries(trajectoryError ${Pangolin_LIBRARIES} fmt)



问题2:trajectoryError.cpp中地址的问题

trajectory ./example/groundtruth.txt not found.
trajectory ./example/estimated.txt not found.
trajectoryError: /home/haha/slambook2/ch4/example/trajectoryError.cpp:22: int main(int, char**): Assertion `!groundtruth.empty() && !estimated.empty()' failed.
已放弃 (核心已转储)

还是trajectoryError.cpp中地址的问题。

打开trajectoryError.cpp


解决办法:

我们打开源码

把本来写的是 ./examples/groundtruth.txt 改成 …/…/examples/groundtruth.txt

…/…/examples/groundtruth.txt

因为你观察外边的目录结构,就发现这个txt文件是存在examples下面的,但是呢你使用KDevelop执行的时候,是在examples/build下执行的

所以要先… 退出build 再 … 退出examples 然后 /examples/groundtruth.txt


另一个与之类似

修改之后,重新cmake

————————————————

版权声明:本文为CSDN博主「1900_」的原创文章,遵循CC 4.0 BY-SA版权协议,转载请附上原文出处链接及本声明。

原文链接:https://blog.csdn.net/holly_Z_P_F/article/details/116324358



四、5章 OpenCV安装和imageBasics.cpp调试



1. OpenCV的下载与安装

试了一下高翔老师的方法,好像链接打不开了,找了个其他的。OpenCV下载/OpenCV国内镜像/opencv_contrib下载:

各版本下载链接

安装调试链接:

OpenCV在Linux上的安装与使用


原文写的很详细,其中在安装之后的main.cpp测试环节,遇到的问题如下:

/usr/local/lib$ ./main
OpenCV Error: Assertion failed (size.width>0 && size.height>0) in imshow, file /home/haha/下载/opencv-3.3.1/modules/highgui/src/window.cpp, line 331
terminate called after throwing an instance of 'cv::Exception'
  what():  /home/haha/下载/opencv-3.3.1/modules/highgui/src/window.cpp:331: error: (-215) size.width>0 && size.height>0 in function imshow

问题原因:我把main.cpp建在了和原文中“opencv.conf”同一文件夹下了。

main.cpp应该建立和“lena.jpg”同一文件夹中(该文件在OpenCV文件解压的文件中,可以搜索一下。)



2. imageBasics.cpp调试


遇到的问题1:

CMakeFiles/imageBasics.dir/imageBasics.cpp.o:在函数‘main’中:
imageBasics.cpp:(.text+0x6e):对‘cv::imread(cv::String const&, int)’未定义的引用
imageBasics.cpp:(.text+0x1d8):对‘cv::imshow(cv::String const&, cv::_InputArray const&)’未定义的引用
imageBasics.cpp:(.text+0x200):对‘cv::waitKey(int)’未定义的引用
imageBasics.cpp:(.text+0x46f):对‘cv::noArray()’未定义的引用
...


解决办法:


CMakeLists.txt中代码错误导致的

将原代码:

project(imageBasics)

add_executable(imageBasics imageBasics.cpp)
# 链接OpenCV库
target_link_libraries(imageBasics ${OpenCV_LIBS})

add_executable(undistortImage undistortImage.cpp)
# 链接OpenCV库
target_link_libraries(undistortImage ${OpenCV_LIBS})

替换为:

cmake_minimum_required( VERSION 2.8 )
project(imageBasics)
 
set( CMAKE_CXX_FLAGS "-std=c++11 -O3")
find_package(OpenCV)
include_directories(${OpenCV})
 
add_executable(imageBasics imageBasics.cpp)
# 链接OpenCV库
target_link_libraries(imageBasics ${OpenCV_LIBS})
 
add_executable(undistortImage undistortImage.cpp)
# 链接OpenCV库
target_link_libraries(undistortImage ${OpenCV_LIBS})

参考原文链接:https://blog.csdn.net/loveSIYU/article/details/113377763


遇到问题2:

~/slambook2/ch5/imageBasics/build$ ./undistortImage 
OpenCV Error: Assertion failed (size.width>0 && size.height>0) in imshow, file /home/haha/下载/opencv-3.3.1/modules/highgui/src/window.cpp, line 331
terminate called after throwing an instance of 'cv::Exception'
  what():  /home/haha/下载/opencv-3.3.1/modules/highgui/src/window.cpp:331: error: (-215) size.width>0 && size.height>0 in function imshow

已放弃 (核心已转储)

问题原因:图片和undistortImage 不再同一文件夹。复制到build中即可。


遇到问题3:

Gtk-Message: 17:51:15.897: Failed to load module "canberra-gtk-module"

原因:

这问题怎么来的?这是因为在编译的机器上链接到这个库,而执行的机器上没有这个库。

解决办法:

sudo apt install libcanberra-gtk-module

之后,运行试一下(不用cmake)。实在不行再重新cmake。



3. 其他

undistorImage.cpp调试和steroVision.cpp调试和上述的2类似。

CMakeLists.txt有点区别。

cmake_minimum_required( VERSION 2.8 )
set( CMAKE_CXX_FLAGS "-std=c++11 -O3")
find_package(OpenCV)
include_directories(${OpenCV})

把这一块复制到前面就行。



5.4.2 RGB调试问题jointMap.cpp



问题1:

和上述2和3中CMakeLists.txt中问题一样

CMakeLists.txt中添加保存:

cmake_minimum_required( VERSION 2.8 )
set( CMAKE_CXX_FLAGS "-std=c++11 -O3")
find_package(OpenCV)
include_directories(${OpenCV})

find_package(Sophus REQUIRED)
include_directories(${Sophus_INCLUDE_DIRS})



问题2:

CMakeFiles/joinMap.dir/joinMap.cpp.o:在函数‘fmt::v7::detail::formatbuf<char>::xsputn(char const*, long)’中:
joinMap.cpp:(.text._ZN3fmt2v76detail9formatbufIcE6xsputnEPKcl[_ZN3fmt2v76detail9formatbufIcE6xsputnEPKcl]+0x18e):对‘fmt::v7::detail::assert_fail(char const*, int, char const*)’未定义的引用

修改方法

CMakeLists.txt



target_link_libraries(joinMap ${OpenCV_LIBS} ${Pangolin_LIBRARIES})

添加

fmt

CMakeLists.txt最后如下所示:

cmake_minimum_required( VERSION 2.8 )
set( CMAKE_CXX_FLAGS "-std=c++11 -O3")
find_package(OpenCV)
include_directories(${OpenCV})

find_package(Sophus REQUIRED)
include_directories(${Sophus_INCLUDE_DIRS})

find_package(Pangolin REQUIRED)

add_executable(joinMap joinMap.cpp)
target_link_libraries(joinMap ${OpenCV_LIBS} ${Pangolin_LIBRARIES} fmt)



问题3:

~/slambook2/ch5/rgbd/build$ ./joinMap 
请在有pose.txt的目录下运行此程序

前文中将“pose.txt”复制到build文件夹中是不行的

会出如下错误:

~/slambook2/ch5/rgbd/build$ ./joinMap 
转换图像中: 1
转换图像中: 2
转换图像中: 3
转换图像中: 4
转换图像中: 5
点云共有0个点.
Point cloud is empty!

所以,要解决问题三的问题要采取如下操作:

在joinMap.cpp中


方法1:


ifstream fin("./pose.txt");

boost::format fmt(./%s/%d.%s” );

改为

ifstream fin("/home/用户名/文件所在的位置/pose.txt");

boost::format fmt( "/home/用户名/文件所在的位置/%s/%d.%s" )


方法2:


改为

ifstream fin("../pose.txt");

boost::format fmt( "../%s/%d.%s" )



五、6章



6.1 Ceres安装



6.1.1 问题1:无法定位软件包 libcxsparse3.1.4


解决办法

:libcxsparse3.1.4 更改为libcxsparse3

安装如下:

sudo apt-get install libcxsparse3 libsuitesparse-dev libeigen3-dev libgoogle-glog-dev libgtest-dev

然后正常安装:

git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver
mkdir build 
cd build
cmake ..
make -j2
sudo make install



6.2 G2O安装



6.2.1 问题1:无法定位软件包 libcxsparse3.1.4


解决办法

:libcxsparse3.1.4 更改为libcxsparse3



6.2.2 问题2:无法定位软件包 libcholmod3.0.6


解决办法



输入

sudo apt-get install libcholmod

然后按Tab键,Tab键就是自动补充命令,当你记不住完整命令的时候,你按下它,他会自动搜索!我在这里出来的是libcholmod1.7.1,然后安装就好!

参考原文:

原文链接

https://blog.csdn.net/WUYIDUER/article/details/79062978



6.2.3 问题3:软件包 libqglviewer-dev 没有可安装候选

解决方法:

apt-cache search libqglviewer-dev

执行命令出现:

libqglviewer-dev-qt4 - OpenGL 3D viewer library based on Qt4 - development files
libqglviewer-dev-qt5 - OpenGL 3D viewer library based on Qt5 - development files

选择下面你要安装的软件包即可,我安装了第二个

sudo apt-get install libqglviewer-dev-qt5

参考原文:

原文链接

https://www.cnblogs.com/darklights/p/10510279.html

原安装:

sudo apt install -y \
    qt5-qmake \
    qt5-default \
    libqglviewer-dev \
    libsuitesparse-dev \
    libcxsparse3.1.4 \
    libcholmod3.0.6

————————————————

版权声明:本文为CSDN博主「雨木冰日」的原创文章,遵循CC 4.0 BY-SA版权协议,转载请附上原文出处链接及本声明。

原文链接:https://blog.csdn.net/weixin_43863574/article/details/107080443

修改后:

sudo apt install -y     qt5-qmake     qt5-default     libqglviewer-dev-qt5     libsuitesparse-dev     libcxsparse3     libcholmod1.7.1

安装:

git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j2
sudo make install



7 视觉里程计1



7.2.1OpenCV的ORB特征orb_cv.cpp



问题1:

CMakeFiles/pose_estimation_3d2d.dir/pose_estimation_3d2d.cpp.o:在函数‘bundleAdjustmentGaussNewton(std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > > const&, std::vector<Eigen::Matrix<double, 2, 1, 0, 2, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 2, 1, 0, 2, 1> > > const&, cv::Mat const&, Sophus::SE3<double, 0>&)’中:
pose_estimation_3d2d.cpp:(.text+0x3803):对‘fmt::v7::vprint(fmt::v7::basic_string_view<char>, fmt::v7::basic_format_args<fmt::v7::basic_format_context<fmt::v7::appender, char> >)’未定义的引用


原因:


没有链接到fmt库


解决方法:


修改CMakeList.txt

如:

target_link_libraries(orb_self ${OpenCV_LIBS})

修改为

target_link_libraries(orb_self ${OpenCV_LIBS} fmt)

所有的都添加target_link_libraries后都添加。


修改完成后:

cmake_minimum_required(VERSION 2.8)
project(vo1)

set(CMAKE_BUILD_TYPE "Release")
add_definitions("-DENABLE_SSE")
set(CMAKE_CXX_FLAGS "-std=c++11 -O2 ${SSE_FLAGS} -msse4")
list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)

find_package(OpenCV 3 REQUIRED)
find_package(G2O REQUIRED)
find_package(Sophus REQUIRED)

include_directories(
        ${OpenCV_INCLUDE_DIRS}
        ${G2O_INCLUDE_DIRS}
        ${Sophus_INCLUDE_DIRS}
        "/usr/include/eigen3/"
)

add_executable(orb_cv orb_cv.cpp)
target_link_libraries(orb_cv ${OpenCV_LIBS}

add_executable(orb_self orb_self.cpp)
target_link_libraries(orb_self ${OpenCV_LIBS})

# add_executable( pose_estimation_2d2d pose_estimation_2d2d.cpp extra.cpp ) # use this if in OpenCV2 
add_executable(pose_estimation_2d2d pose_estimation_2d2d.cpp)
target_link_libraries(pose_estimation_2d2d ${OpenCV_LIBS})

# # add_executable( triangulation triangulation.cpp extra.cpp) # use this if in opencv2
add_executable(triangulation triangulation.cpp)
target_link_libraries(triangulation ${OpenCV_LIBS})

add_executable(pose_estimation_3d2d pose_estimation_3d2d.cpp)
target_link_libraries(pose_estimation_3d2d
        g2o_core g2o_stuff
        ${OpenCV_LIBS})

add_executable(pose_estimation_3d3d pose_estimation_3d3d.cpp)
target_link_libraries(pose_estimation_3d3d
        g2o_core g2o_stuff
        ${OpenCV_LIBS})



问题2:

make之后,在build下运行(书本视觉SLAM十四讲)

./orb_cv


出现问题(1):

usage: feature_extraction img1 img2

**原因:**由于没有输入两个图像的位置


查看书本输入:

build/orb_cv 1.png 2.png


出现问题(2):

bash: build/orb_cv: 没有那个文件或目录


解决方法1:


运行下列程序:

./orb_cv ../1.png ../2.png


解决方法2:


(1)将图片1.png和2.png复制到build文件夹中

(2)运行下列程序

./orb_cv 1.png 2.png



7.2.2 手写ORB特征orb_self.cpp



问题1:

./orb_self 
bad/total: 0/0
bad/total: 0/0
extract ORB cost = 0.000383345 seconds. 
match ORB cost = 5.3e-08 seconds. 
matches: 0
OpenCV Error: Assertion failed (!outImage.empty()) in drawKeypoints, file /home/haha/下载/opencv-3.3.1/modules/features2d/src/draw.cpp, line 115
terminate called after throwing an instance of 'cv::Exception'
  what():  /home/haha/下载/opencv-3.3.1/modules/features2d/src/draw.cpp:115: error: (-215) !outImage.empty() in function drawKeypoints


原因:

未读取图片


解决方法:

修改org_self.cpp中第12行和14行文件

将:

string first_file = "./1.png";
string second_file = "./2.png";

修改为:

string first_file = "../1.png";
string second_file = "../2.png";

最后在build终端下:

运行1:

make clean

运行2:

make

运行3:

./orb_self



7.4实践:对极约束求解相机运动



pose_estimation_2d2d.cpp


问题:

./pose_estimation_2d2d 
usage: pose_estimation_2d2d img1 img2

解决办法:

./pose_estimation_2d2d ../1.png ../2.png



triangulation.cpp


问题:

usage: triangulation img1 img2

解决办法:

./triangulation ../1.png ../2.png



pose_estimation_3d2d.cpp


问题:

usage: pose_estimation_3d2d img1 img2 depth1 depth2

解决办法:

./pose_estimation_3d2d ../1.png ../2.png ../1_depth.png ../2_depth.png



pose_estimation_3d3d.cpp


问题:

usage: pose_estimation_3d3d img1 img2 depth1 depth2

解决办法:

./pose_estimation_3d3d ../1.png ../2.png ../1_depth.png ../2_depth.png



8 视觉里程计2



cmake问题



问题1:

CMake Error at CMakeLists.txt:8 (find_package):
  Could not find a configuration file for package "OpenCV" that is compatible
  with requested version "4".

  The following configuration files were considered but not accepted:
    /usr/local/share/OpenCV/OpenCVConfig.cmake, version: 3.3.1
-- Configuring incomplete, errors occurred!
See also "/home/haha/slambook2/ch8/build/CMakeFiles/CMakeOutput.log".

virtual-machine:~/slambook2/ch8/build$ make 
make: *** 没有指明目标并且找不到 makefile。 停止。

解决办法:

将CMakeList.txt中第8行

find_package(OpenCV 4 REQUIRED)

修改为

find_package(OpenCV 3 REQUIRED)



问题2:

CMakeFiles/direct_method.dir/direct_method.cpp.o:在函数‘DirectPoseEstimationSingleLayer(cv::Mat const&, cv::Mat const&, std::vector<Eigen::Matrix<double, 2, 1, 0, 2, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 2, 1, 0, 2, 1> > > const&, std::vector<double, std::allocator<double> >, Sophus::SE3<double, 0>&)’中:
/usr/local/include/fmt/core.h:2884:对‘fmt::v7::vprint(fmt::v7::basic_string_view<char>, fmt::v7::basic_format_args<fmt::v7::basic_format_context<fmt::v7::appender, char> >)’未定义的引用
/usr/local/include/fmt/core.h:2884:对‘fmt::v7::vprint(fmt::v7::basic_string_view<char>, fmt::v7::basic_format_args<fmt::v7::basic_format_context<fmt::v7::appender, char> >)’未定义的引用

解决方法:

在CMakeList.txt 中链接fmt库(21行和24行)

cmake_minimum_required(VERSION 2.8)
project(ch8)

set(CMAKE_BUILD_TYPE "Release")
add_definitions("-DENABLE_SSE")
set(CMAKE_CXX_FLAGS "-std=c++11 ${SSE_FLAGS} -g -O3 -march=native")

find_package(OpenCV 3 REQUIRED)
find_package(Sophus REQUIRED)
find_package(Pangolin REQUIRED)

include_directories(
        ${OpenCV_INCLUDE_DIRS}
        ${G2O_INCLUDE_DIRS}
        ${Sophus_INCLUDE_DIRS}
        "/usr/include/eigen3/"
        ${Pangolin_INCLUDE_DIRS}
)

add_executable(optical_flow optical_flow.cpp)
target_link_libraries(optical_flow ${OpenCV_LIBS} fmt)

add_executable(direct_method direct_method.cpp)
target_link_libraries(direct_method ${OpenCV_LIBS} ${Pangolin_LIBRARIES} fmt)



optical_flow.cpp



问题:

OpenCV Error: Assertion failed (ssize.width > 0 && ssize.height > 0) in resize, file /home/haha/下载/opencv-3.3.1/modules/imgproc/src/resize.cpp, line 3289
terminate called after throwing an instance of 'cv::Exception'
  what():  /home/haha/下载/opencv-3.3.1/modules/imgproc/src/resize.cpp:3289: error: (-215) ssize.width > 0 && ssize.height > 0 in function resize

解决办法:

修改optical_flow.cpp文件(14行和15行)

string file_1 = "./LK1.png";  // first image
string file_2 = "./LK2.png";  // second image

修改为

string file_1 = "../LK1.png";  // first image
string file_2 = "../LK2.png";  // second image



direct_method.cpp



问题:

段错误 (核心已转储)

解决办法:

修改direct_method(15行、16行和17行)

string left_file = "./left.png";
string disparity_file = "./disparity.png";
boost::format fmt_others("./%06d.png");    // other files

修改为

string left_file = "../left.png";
string disparity_file = "../disparity.png";
boost::format fmt_others("../%06d.png");    // other files



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