本文已参与【新人创作礼】活动，一起开启掘金创作之路。
平台：ubuntu20.04
问题1：kitti数据集获取（能进网站，点击下载后，...，邮件下载链接打不开）
方法：进站长工具地址查询Instant IP Address Lookup | IP Address Tracker | IP Tracer后截取下载网址 s3.eu-central-1.amazonaws.com/avg-kitti/d…前半部分s3.eu-central-1.amazonaws.com，查询其对应的IP地址如下
即
| IP Address | - 52.219.72.84 |
|---|---|
| 然后进入hosts将52.219.169.17 s3.eu-central-1.amazonaws.com写入，如下 |
终端运行
sudo gedit /etc/hosts
然后写入 52.219.169.17 s3.eu-central-1.amazonaws.com
保存退出，就可以点击下载链接下载了，但速度很慢，可以用迅雷加速,亲测快很多（好像快十倍）！
问题2.编译中出现的问题
出现：CMake Error at CMakeLists.txt:18 (find_package):
Could not find a configuration file for package "OpenCV" that is compatible
with requested version "3.1".
办法：讲CMakeLists.txt文件中 3.1删掉，如下
出现：/usr/local/include/g2o/core/base_fixed_sized_edge.h:174:32: error: ‘index_sequence’ is not a member of ‘std’
......
等错误
方法：将CMakeLists.txt文件中关于c++11设置注释掉同时设置c++14,如下
出现：/home/kbfvictory/Downloads/slambook2/ch13/src/viewer.cpp:83:54: error: ‘CV_GRAY2BGR’ was not declared in this scope
cv::cvtColor(current_frame_->left_img_, img_out, CV_GRAY2BGR);
方法：在viewer.cpp h中加入头文件，如下
#include <opencv2/imgproc/types_c.h>
如果继续报错，需要查看usr/local/include目录上opencv文件夹名字做对应改变找到types_c.h头文件
出现：/home/kbfvictory/slambook2/ch13/src/frontend.cpp:295:68: error: ‘CV_FILLED’ was not declared in this scope
feat->position_.pt + cv::Point2f(10, 10), 0, CV_FILLED);
等错误
办法：将CV_FILLED改为cv::FILLED即可
问题3：运行时报错
出现：WARNING: Logging before InitGoogleLogging() is written to STDERR
I20210712 22:42:13.808815 12504 visual_odometry.cpp:44] VO is running
Segmentation fault (core dumped)
办法：打开run_kitti_stereo.cpp注释掉assert函数将初始提取出来，如下
出现：WARNING: Logging before InitGoogleLogging() is written to STDERR
E20210712 22:57:54.938446 13193 dataset.cpp:18] cannot find /mnt/1A9286BD92869CBF/Dataset/Kitti/dataset/sequences/05/calib.txt!
F20210712 22:57:54.938530 13193 visual_odometry.cpp:21] Check failed: dataset_->Init() == true (0 vs. 1)
*** Check failure stack trace: ***
Aborted (core dumped)
办法：打开default.yaml把dataset_dir的路径改为前面下载的kitti数据集存放的绝对路径，样例如下
最后结果放不了视频，放着图片
