本文共 1724 字，大约阅读时间需要 5 分钟。

参考这个：

1.Eigen3

sudo apt-get updatesudo apt-get install libeigen3-dev

2.g2o

参考这个：

mkdir build    cd build    cmake ../    make    sudo make install (记得安装)

安装结束之后，/usr/local/include文件夹下面应该有这个文件夹，如果你还是不清出怎么弄的话，参考这个：

https://blog.csdn.net/slzlincent/article/details/86555166https://blog.csdn.net/u013004597/article/details/52496995

报错：

g2o/solvers/cholmod/linear_solver_cholmod.h: 没有那个文件或目录

解决：

sudo apt-get install cmake libeigen3-dev libsuitesparse-dev libqt4-dev qt4-qmake libqglviewer-dev

参考：

3. RGBDSLAMv2

1. Put RGBDSLAMv2 in a catkin workspace: See the catkin tutorial for details. Use git to clone this repository into your workspace's "src/" directory. Or download RGBDSLAMv2 as an archive and extract it to "src/".2. Download my [g2o fork|https://github.com/felixendres/g2o], put it in some other directory. Build and install. Export the environment variable $G2O_DIR to the installation directory to let rgbdslam_v2 know where to find it (see Installation from Scratch for an example).3. Use rosdep (i.e. "rosdep install rgbdslam") to install missing dependencies. For details see http://wiki.ros.org/ROS/Tutorials/rosdep4. To build RGBDSLAMv2 go to your catkin workspace and execute "catkin_make". If you get an error about the missing siftgpu library, execute "catkin_make" again.

效果：

4.开始3D建模

roslaunch freenect_launch freenect.launch    roslaunch rgbdslam rgbdslam.launch

报错：

REQUIRED process [rgbdslam-1] has died!process has died [pid 15119, exit code -11, cmd /home/sq/HDH/catkin_ws/devel/lib/rgbdslam/rgbdslam __name:=rgbdslam __log:=/home/sq/.ros/log/3d9fa842-3f4a-11e9-91c6-fc3d93b4bc96/rgbdslam-1.log].log file: /home/sq/.ros/log/3d9fa842-3f4a-11e9-91c6-fc3d93b4bc96/rgbdslam-1*.logInitiating shutdown!

解决：

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