qixuxiang / orb-slam2_with_semantic_labelling Goto Github PK

另一个版本没问题，这个版本里的东西少了
导致orbslam2　build的时候不通过

When I run the following statement,
./rgbd_tum ../Vocabulary/ORBvoc.txt ../Examples/RGB-D/TUM1.yaml ../data/rgbd_dataset_freiburg1_rpy ../data/associations.txt
an error occurs.
bash: ./rgbd_tum: cannot execute binary file: Exec format error
How can I resolve it??

编译整个项目的时候出现：
[ 86%] Built target ORB_SLAM2
[ 93%] Built target bin_vocabulary
[ 96%] Linking CXX executable ../bin/rgbd_tum
../lib/libORB_SLAM2.so: undefined reference to pcl::SupervoxelClustering<pcl::PointXYZRGBA>::SupervoxelClustering(float, float)' ../lib/libORB_SLAM2.so: undefined reference to pcl::SupervoxelClusteringpcl::PointXYZRGBA::setUseSingleCameraTransform(bool)'
collect2: error: ld returned 1 exit status
CMakeFiles/rgbd_tum.dir/build.make:341: recipe for target '../bin/rgbd_tum' failed
make[2]: *** [../bin/rgbd_tum] Error 1
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/rgbd_tum.dir/all' failed
make[1]: *** [CMakeFiles/rgbd_tum.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2
不知该怎么办。。

*** Error in `./rgbd_tum': munmap_chunk(): invalid pointer: 0x00007f316559c170 ***
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x777e5)[0x7f31b5abc7e5]
/lib/x86_64-linux-gnu/libc.so.6(cfree+0x1a8)[0x7f31b5ac9698]
/home/yh/workspace/semantic_slam/orb-slam2_with_semantic_label/lib/libORB_SLAM2.so(_ZN17PointCloudMapping6viewerEv+0xdd8)[0x7f31b8bfeeb8]
/usr/lib/x86_64-linux-gnu/libstdc++.so.6(+0xb8c80)[0x7f31b60ddc80]
/lib/x86_64-linux-gnu/libpthread.so.0(+0x76ba)[0x7f31b3a986ba]
/lib/x86_64-linux-gnu/libc.so.6(clone+0x6d)[0x7f31b5b4c41d]
if I turn off the localization mode, it will cause this error;if I turn on localizaiton mode, the error disappear, and the point cloud will not update.

[ 93%] Building CXX object CMakeFiles/bin_vocabulary.dir/tools/bin_vocabulary.cc.o
../lib/libORB_SLAM2.so：对‘pcl::SupervoxelClusteringpcl::PointXYZRGBA::SupervoxelClustering(float, float)’未定义的引用
../lib/libORB_SLAM2.so：对‘pcl::SupervoxelClusteringpcl::PointXYZRGBA::setUseSingleCameraTransform(bool)’未定义的引用
collect2: error: ld returned 1 exit status
CMakeFiles/rgbd_tum.dir/build.make:403: recipe for target '../bin/rgbd_tum' failed
make[2]: *** [../bin/rgbd_tum] Error 1
CMakeFiles/Makefile2:109: recipe for target 'CMakeFiles/rgbd_tum.dir/all' failed
make[1]: *** [CMakeFiles/rgbd_tum.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
[ 96%] Linking CXX executable ../tools/bin_vocabulary
[ 96%] Built target bin_vocabulary
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2
Converting vocabulary to binary
BoW load/save benchmark
Loading fom text: 7.46s
Saving as binary: 0.11s

你好我想问下 超体素安装 和 最后这个出了什么问题

您好！我在运行您的代码时出现了“Floating point exception (core dumped)”的错误。请问您清楚为什么吗，有什么解决建议吗？具体运行情况如下述：

环境：
Ubuntu16.04
cuda8.0
opencv3.3.0
PCL1.8
ORB_SLAM2正常运行，yolo正常运行

运行中出现错误：viewer闪现后运行出错：(浮点数例外)核心已转储。
Framebuffer with requested attributes not available. Using available framebuffer. You may see visual artifacts.New map created with 738 points
receive a keyframe, id = 1
receive a keyframe, id = 2
receive a keyframe, id = 3
receive a keyframe, id = 4
receive a keyframe, id = 5
receive a keyframe, id = 6
receive a keyframe, id = 7
receive a keyframe, id = 8
receive a keyframe, id = 9
receive a keyframe, id = 10
receive a keyframe, id = 11
receive a keyframe, id = 12
receive a keyframe, id = 13
receive a keyframe, id = 14
receive a keyframe, id = 15
receive a keyframe, id = 16
receive a keyframe, id = 17
receive a keyframe, id = 18
receive a keyframe, id = 19
receive a keyframe, id = 20
receive a keyframe, id = 21
receive a keyframe, id = 22
receive a keyframe, id = 23
receive a keyframe, id = 24
receive a keyframe, id = 25
receive a keyframe, id = 26
receive a keyframe, id = 27
receive a keyframe, id = 28
receive a keyframe, id = 29
receive a keyframe, id = 30
receive a keyframe, id = 31
receive a keyframe, id = 32
receive a keyframe, id = 33
receive a keyframe, id = 34
receive a keyframe, id = 35
receive a keyframe, id = 36
receive a keyframe, id = 37
receive a keyframe, id = 38
receive a keyframe, id = 39
receive a keyframe, id = 40
receive a keyframe, id = 41
receive a keyframe, id = 42
receive a keyframe, id = 43
Floating point exception (core dumped)

terminate called without an active exception
Aborted (core dumped)
麻烦问下有什么解决办法吗

orb-slam2_with_semantic_labelling-master/include/YOLOv3SE.h:117:44: error: no matching function for call to ‘_IplImage::_IplImage(cv::Mat&)’
IplImage* iplimg = new IplImage(img);
^
麻烦问下这个要怎么解决呢?