{"id":92,"date":"2025-03-07T20:26:04","date_gmt":"2025-03-07T12:26:04","guid":{"rendered":"https:\/\/mcfrys.cn\/?p=92"},"modified":"2025-03-26T23:54:40","modified_gmt":"2025-03-26T15:54:40","slug":"ubuntu20-04%e4%b8%8bqt%e5%bc%80%e5%8f%91%e4%b8%89%e7%bb%b4%e6%89%ab%e6%8f%8f%e8%bd%af%e4%bb%b6%e8%ae%b0%e5%bd%95","status":"publish","type":"post","link":"https:\/\/web.mcfrys.cn\/index.php\/2025\/03\/07\/ubuntu20-04%e4%b8%8bqt%e5%bc%80%e5%8f%91%e4%b8%89%e7%bb%b4%e6%89%ab%e6%8f%8f%e8%bd%af%e4%bb%b6%e8%ae%b0%e5%bd%95\/","title":{"rendered":"Ubuntu20.04\u4e0bQt\u5f00\u53d1\u4e09\u7ef4\u626b\u63cf\u8f6f\u4ef6\u8bb0\u5f55"},"content":{"rendered":"\n<p>2025.3.10\u8c03\u8bd5\u8bb0\u5f55<\/p>\n\n\n\n<p>\u53cd\u6295\u5f71\u539f\u65b9\u6cd5\u662f\u91c7\u7528 \u514b\u91cc\u91d1\u53cd\u5411\u63d2\u503c \u6c42\u89e3\u6bcf\u4e2a\u70b9\u4e91\u4e0a\u7684\u6743\u91cd \u6700\u540e\u52a0\u6743\u6c42\u548c\u5bfb\u627e\u70ed\u70b9<\/p>\n\n\n\n<p>\u7f3a\u70b9\uff1a\u4f4e\u5242\u91cf\u503c\u7684\u6d4b\u91cf\u70b9\u4f1a\u5bfc\u81f4\u5730\u56fe\u90e8\u5206\u6743\u91cd\u88ab\u62c9\u4f4e\uff0c\u5bfc\u81f4\u70ed\u70b9\u88ab\u9690\u85cf<\/p>\n\n\n\n<p>\u540e\u91c7\u7528\u53cd\u8ddd\u79bb\u5e73\u65b9\u52a0\u6743 \u6839\u636e\u8ddd\u79bb\u624d\u63a8\u70ed\u70b9<\/p>\n\n\n\n<p>\u4f18\u70b9:\u4f4e\u5242\u91cf\u503c\u6d4b\u91cf\u70b9\u4e0d\u4f1a\u5f71\u54cd\u70ed\u70b9\u533a\u57df<\/p>\n\n\n\n<p>\u7f3a\u70b9:\u4f1a\u63a8\u51fa\u4f2a\u70ed\u70b9\uff0c\u5c31\u662f\u9ad8\u70ed\u70b9\u53cd\u63a8\u5230\u5730\u56fe\u4e0a \u4e2d\u95f4\u51fa\u73b0\u4e00\u4e2a\u4f4e\u5242\u91cf\u503c\u6d4b\u91cf\u70b9\uff0c\u8bf4\u660e\u8be5\u65b9\u5411\u4e0d\u5b58\u5728\u70ed\u70b9\uff0c\u4e0d\u80fd\u76f4\u63a5\u5f80\u8fd9\u4e2a\u65b9\u5411\u63a8<\/p>\n\n\n\n<p>\u5148\u5f00\u59cb\u60f3\u6cd5\u662f: \u70b9\u4e91\u7684\u6bcf\u4e2a\u70b9\u548c\u6d4b\u91cf\u70b9 \u8fdb\u884c\u52a0\u6743\u5e73\u5747 \u6c42\u4e00\u4e2a\u503c \u540e\u9762\u53d1\u73b0\u548c\u5b9e\u9645\u60c5\u51b5\u4e0d\u7b26\u5408<\/p>\n\n\n\n<p>\u6700\u540e\u5229\u7528\u6bcf\u4e2a\u70b9\u548c\u6d4b\u91cf\u70b9\u7684\u6743\u503c\u548c\u6743\u91cd\u4e58\u79ef\u6700\u5927\u7684\u503c\u6765\u5f53\u505a\u6700\u540e\u7684\u503c\\<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">2025.3.26\u65e5\u5f00\u59cb\u6446\u8131ROS\u73af\u5883\u5728Ubuntu20.04\u4e0b\u914d\u7f6e\u76f8\u673aSDK<\/h2>\n\n\n\n<pre class=\"wp-block-code\"><code>sudo apt install libudev-dev libusb-dev\nlibudev-dev\uff1a\u7528\u4e8e\u7ba1\u7406\u63d2\u62d4\u786c\u4ef6\u8bbe\u5907\uff0c\u975e\u5e38\u91cd\u8981\u7528\u4e8e\u8bbe\u5907\u8282\u70b9\u7684\u52a8\u6001\u7ba1\u7406\u3002\nlibusb-dev\uff1a\u63d0\u4f9b\u5bf9USB\u8bbe\u5907\u7684\u76f4\u63a5\u63a7\u5236\u548c\u901a\u4fe1\u80fd\u529b\u3002<\/code><\/pre>\n\n\n\n<p>\u5c06ORBSLAM2\u4ecec++11\u6807\u51c6\u63d0\u5347\u5230c++14\u7f16\u8bd1\u9014\u4e2d\u9047\u5230\u7684\u95ee\u9898<\/p>\n\n\n\n<p>\/home\/user\/ORBSLAM2_with_pointcloud_map\/ORB_SLAM2_modified\/src\/LoopClosing.cc:437:21: required from here<br>\/usr\/include\/c++\/9\/bits\/stl_map.h:122:71: error: static assertion failed: std::map must have the same value_type as its allocator<br>122 | static_assert(is_same::value,<br>| ^~~~~<br>make[2]: *** [CMakeFiles\/ORB_SLAM2.dir\/build.make:102\uff1aCMakeFiles\/ORB_SLAM2.dir\/src\/LoopClosing.cc.o] \u9519\u8bef 1<br>make[1]: *** [CMakeFiles\/Makefile2:221\uff1aCMakeFiles\/ORB_SLAM2.dir\/all] \u9519\u8bef 2<br>make: *** [Makefile:84\uff1aall] \u9519\u8bef 2<\/p>\n\n\n\n<p>\u4fee\u590d\u65b9\u6cd5:<\/p>\n\n\n\n<p>\u4fee\u6539\u00a0<code>ORB_SLAM2\/include\/LoopClosing.h::50<\/code><\/p>\n\n\n\n<p>typedef map,g2o::Sim3,std::less&gt;,<br>Eigen::aligned_allocator &gt; &gt; KeyFrameAndPose;<\/p>\n\n\n\n<p>\u4e3a\uff1a<\/p>\n\n\n\n<p>typedef map,g2o::Sim3,std::less&gt;,<br>Eigen::aligned_allocator &gt; &gt; KeyFrameAndPose;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>2025.3.10\u8c03\u8bd5\u8bb0\u5f55 \u53cd\u6295\u5f71\u539f\u65b9\u6cd5\u662f\u91c7\u7528 \u514b\u91cc\u91d1\u53cd\u5411\u63d2\u503c \u6c42\u89e3\u6bcf\u4e2a\u70b9\u4e91\u4e0a\u7684\u6743\u91cd \u6700\u540e\u52a0\u6743\u6c42\u548c\u5bfb\u627e\u70ed\u70b9 \u7f3a [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":94,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[10,9,6,11,12],"class_list":["post-92","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-learn","tag-3d_slam","tag-qt","tag-ubuntu","tag-11","tag-12"],"_links":{"self":[{"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/posts\/92","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/comments?post=92"}],"version-history":[{"count":8,"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/posts\/92\/revisions"}],"predecessor-version":[{"id":140,"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/posts\/92\/revisions\/140"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/media\/94"}],"wp:attachment":[{"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/media?parent=92"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/categories?post=92"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/tags?post=92"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}