编译DSP-SLAM遇见的问题
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直接编译作者提供好的环境配置
git clone --recursive https://github.com/JingwenWang95/DSP-SLAM.git
# 编译前注意修改其中部分内容
# 按/Thirdparty/mmdection3d/mmdet3d/__init__.py max 、min Version修改版本
mmcv-full==1.4.0 # 若卡在Building ，尝试修改版本或者修改pytorch的版本
mmdet==2.19.0
mmsegmentation==0.20.0
# 激活dsp-slam环境
conda activate dsp-slam
# 安装pytorch工具
conda install pytorch torchvision torchaudio cudatoolkit=10.2 -c pytorch
# 运行
./dsp-slam Vocabulary/ORBvoc.bin configs/KITTI04-12.yaml data/kitti/07 map/kitti/07
代码解释安装conda包时中途退出重装，遇到的问题
CondaVerificationError: The package for scipy located at /home/lxf/.conda/pkgs/scipy-1.3.1-py37h921218d_1 appears to be corrupted. The path ‘lib/python3.7/site-packages/scipy/stats/_continuous_distns.py’ specified in the package manifest cannot be found. CondaVerificationError: The package for scipy located at /home/lxf/.conda/pkgs/scipy-1.3.1-py37h921218d_1 appears to be corrupted. The path ‘lib/python3.7/site-packages/scipy/stats/_discrete_distns.py’ specified in the package manifest cannot be found.
解决：
conda clean --packages --tarballs # 删除缓存的包
代码解释最后：由于没有较好的显卡设备，跑不出作者的效果。遂暂时搁置
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