Ubuntu16.04 install lsd-slam
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LSD-SLAM Repo address by TUM:
https://github.com/tum-vision/lsd_slam
When I tried to build LSD-SLAM in Ubuntu16.04, here some problems happened in my machine.
Problem 1
Reference: https://github.com/tum-vision/lsd_slam/issues/222
Hey, I was able to compile lsd_slam on ubuntu 16.04 with ros-kinetic. However, while running lsd_slam_viewer I get following error:
*** Error in `/home/chirag/vision/SLAM-ROS/package_dir/lsd_slam/lsd_slam_viewer/bin/viewer': realloc(): invalid pointer: 0x00007fda0b922820 ***
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x77725)[0x7fda0a30a725]
/lib/x86_64-linux-gnu/libc.so.6(realloc+0x348)[0x7fda0a316f88]
/usr/lib/x86_64-linux-gnu/libQt5Core.so.5(_ZN9QListData7reallocEi+0x1f)[0x7fda056b9a5f]
/usr/lib/x86_64-linux-gnu/libQt5Core.so.5(_ZN9QListData6appendEi+0x81)[0x7fda056b9b31]
/usr/lib/x86_64-linux-gnu/libQt5Core.so.5(+0x1d7018)[0x7fda05786018]
solution 1
# step 1
sudo apt-get purge --auto-remove qt5-default
# step 2
qglviewer, decompress and cd into the folder, then qmake & make & sudo make install
# step 3
rebuild lsd_slam
Problem 2
If you compile lsd_slam, and the command line report an error about qreal and float, you can refer as follows. change the variable type from float to qreal as follows.
Solution 2
from mattdinhnguyen
guess you’re also installing on x86_64, I changed as below then it built through:
~/Workspace/rosbuild_ws/package_dir/lsd_slam/lsd_slam_viewer/src/PointCLoudViewer.cpp:
326: float x, y, z; // change to —> qreal x, y, z;
~/Workspace/rosbuild_ws/package_dir/lsd_slam/lsd_slam_viewer/src/PointCLoudViewer.h:
135: float x, y, z; // change to —> qreal x, y, z;
Problem 3
opencv2/opencv.hpp report error
Solution 3
#include <GL/gl.h>
#include <GL/glu.h>
#include <GL/glu.h>
// add comment on the following line
//#include "opencv2/opencv.hpp"
#include "ros/package.h"
#include "ros/package.h"
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