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ElasticFusionwork.txt
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ElasticFusion ROS包装器：https://github.com/RMonica/elastic_bridge
注意标签：在2019年有更新：https://github.com/mp3guy/ElasticFusion/tree/update2019
主要的安装参考链接：
https://blog.csdn.net/jthree2012/article/details/80837661
openjdk安装现在已经不能直接安装需要添加ppa：
github更新支持realsense的版本：
https://github.com/mp3guy/ElasticFusion/pull/161
https://github.com/mp3guy/ElasticFusion/issues/164
Ubuntu18.04+realsense运行ElasticFusion：
https://blog.csdn.net/dongzid/article/details/85906109
Ubuntu16.04+realsense运行ElasticFusion：
https://blog.csdn.net/u010497704/article/details/89490675
catkin_make:报错
Project 'tf_conversions' specifies '/usr/include/eigen3' as an include dir,
which is not found. It does neither exist as an absolute directory nor in
'${{prefix}}//usr/include/eigen3'. Check the website
'http://www.ros.org/wiki/tf_conversions' for information and consider
reporting the problem.
解决：
https://blog.csdn.net/bluewhalerobot/article/details/73658167
catkin_make报错：
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by "pcl_conversions"
with any of the following names:
pcl_conversionsConfig.cmake
pcl_conversions-config.cmake
Add the installation prefix of "pcl_conversions" to CMAKE_PREFIX_PATH or
set "pcl_conversions_DIR" to a directory containing one of the above files.
If "pcl_conversions" provides a separate development package or SDK, be
sure it has been installed.
Call Stack (most recent call first):
elastic_bridge/CMakeLists.txt:7 (find_package)
解决：
sudo apt-get update
sudo apt-get install ros- kinetic-pcl-conversions
sudo apt-get install ros-kinetic-pcl-ros
另外一种方式（没有测试过）：
try this:
sudo apt-get install ros-kinetic-perception
参考链接：
https://answers.ros.org/question/235891/how-to-remove-this-error-in-pcl/
一些等待测试的RGBD-SLAM：
https://github.com/WangYuTum/odometry
https://www.youtube.com/watch?v=ehwiFkmFQ7Q&list=PLHXK5lYExZTCxg1EXLcGwWAizfMbJsk9Q&index=58&t=0s
https://github.com/ShudaLi/HDRFusion/tree/master/hdr_fusion
https://github.com/occipital/OpenNI2
运行报错： error: GLSL 3.30 is not supported. Supported versions are: 1.10, 1.20, 1.30, 1.00 ES, 3.00 ES, 3.10 ES, and 3.20 ES
疑似解决办法：
https://www.geek-share.com/detail/2731521414.html
在软件与更新里面选择显卡的驱动：
然后切换为NVIDIA显卡：
nvidia-settings
(目前是使用的集成显卡，如果需要运行该程序，则需要改为NVIDIA显卡显示。20200408)
sudo apt install nvidia-prime
程序“prime-select”尚未安装。 您可以使用以下命令安装：
sudo apt install nvidia-prime
选择NVIDIA显卡
prime-select nvidia
运行时报错：
CUDA driver version is insufficient for CUDA runtime version
CUDA版本不对
妈的是编译的时候用的CUDA10，运行的时候用的CUDA8，肯定报错了，艹！！！
https://stackoverflow.com/questions/41409842/ubuntu-16-04-cuda-8-cuda-driver-version-is-insufficient-for-cuda-runtime-vers
https://askubuntu.com/questions/858030/nvidia-prime-in-nvidia-x-server-settings-in-16-04-1
sudo apt-get remove --purge nvidia*
sudo add-apt-repository ppa:graphics-drivers/ppa
sudo apt-get update
NVIDIA:384
sudo apt-get install nvidia-384 nvidia-settings nvidia-prime
CUDA:8.0
NVIDIA:430
sudo apt-get install nvidia-430 nvidia-settings nvidia-prime
CUDA:10.0
https://blog.csdn.net/m0_38007695/article/details/103456043
查看推荐NVIDIA驱动版本
sudo ubuntu-drivers devices
[sudo] ipsg 的密码：
对不起，请重试。
[sudo] ipsg 的密码：
== /sys/devices/pci0000:00/0000:00:01.0/0000:01:00.0 ==
modalias : pci:v000010DEd00001C20sv000017AAsd000039B9bc03sc00i00
vendor : NVIDIA Corporation
driver : nvidia-418 - third-party free
driver : nvidia-410 - third-party free
driver : xserver-xorg-video-nouveau - distro free builtin
driver : nvidia-415 - third-party free
driver : nvidia-430 - third-party free recommended
driver : nvidia-384 - distro non-free
[ INFO] [1585369659.386317015]: elastic_bridge: first camera info received.
[ INFO] [1585369659.388240791]: elastic_bridge: Initializing Elastic Fusion...
[ INFO] [1585369659.388354602]: elastic_bridge: w 640, h 480, fx 614.931458, fy 615.194458, cx 325.483673, cy 241.891052
[ INFO] [1585369659.399827667]: init_fake_opengl_context: Initializing fake OpenGL context...
[ INFO] [1585369659.405878399]: init_fake_opengl_context: Number of framebuffer configurations: 20
[ INFO] [1585369659.477730869]: init_fake_opengl_context: Fake context initialized ok.
[ INFO] [1585369661.519750159]: elastic_bridge: Elastic Fusion initialized.
Your GPU "GeForce GTX 1060 with Max-Q Design" isn't in the ICP Step performance database, please add it
Your GPU "GeForce GTX 1060 with Max-Q Design" isn't in the RGB Step performance database, please add it
Your GPU "GeForce GTX 1060 with Max-Q Design" isn't in the RGB Res performance database, please add it
Your GPU "GeForce GTX 1060 with Max-Q Design" isn't in the SO3 Step performance database, please add it
NODES
/
save_pcl (elastic_bridge/save_pcl)
ROS_MASTER_URI=http://localhost:11311
process[save_pcl-1]: started with pid [7317]
[ INFO] [1585370598.283102022]: Waiting for action server to start.
[ INFO] [1585370598.502980701]: Action server started, sending goal.
[ INFO] [1585370599.305853910]: Action finished: SUCCEEDED
[ INFO] [1585370599.305926287]: Saved point cloud in: ./pointcloud.pcd
[ INFO] [1585370599.312250073]: Saved GUIDs in: ./pointcloud.corresp
[save_pcl-1] process has finished cleanly
log file: /home/ipsg/.ros/log/6049571e-70ac-11ea-bba5-646e69f48e3d/save_pcl-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done