抱歉，新電腦剛裝了一個googlepinyin，居然是繁體字，難得該了，大家湊合看吧

在復現?suma++時?,遇到好多問題nvidia驅動，cuda，cudnn，tensorRT 。。。就當一切都編譯成功時，我發現運行?./visualizer 時，報錯：

weijian@weijian-B560-HD3:~/caoqiku/semantic_suma/src$ ./semantic_suma/bin/visualizer ./semantic_suma/bin/visualizer: error while loading shared libraries: libmetis-gtsam.so: cannot open shared object file: No such file or directory

error while loading shared libraries: libmetis-gtsam.so: cannot open shared object file: No such file or directory

但是我的gtsam裝好了，而且/usr/local/lib中也有libmetis-gtsam.so這個文件，那可能suma默認在/usr/lib中吧

cp 過去：

weijian@weijian-B560-HD3:~/caoqiku/semantic_suma/src$ sudo cp /usr/local/lib/libmetis-gtsam.so /usr/lib [sudo] password for weijian:

然後在執行：

weijian@weijian-B560-HD3:~/caoqiku/semantic_suma/src$ ./semantic_suma/bin/visualizer OpenGL Context Version 4.6 core profile GLEW initialized. OpenGL context version: 4.6 OpenGL vendor string : NVIDIA Corporation OpenGL renderer string: Quadro P2000/PCIe/SSE2 terminate called after throwing an instance of 'rv::XmlError'what(): Error while parsing in line 1 Aborted (core dumped)

又報了新錯誤，這個錯誤，在suma++ 的官網github中issue有一樣的問題

issue #10

先回去休息，明天接著這裏繼續....，解決了在更新

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剛剛在suma的#issue 3https://github.com/jbehley/SuMa/issues/3中找到了答案：

Hmmm, it's hard to guess what might be the problem.

Either you try to directly call the?visualizer?with the path to the configuration file, i.e.,

./visualizer /path/to/config/default.xml

if this does not help, could you start the?visualizer?with gdb and report the backtrace, i.e.,

gdb ./visualizer
This opens the debugger, then

(gdb) run
To start the program, then

(gdb) bt
To get the backtrace, which gives us an indication where the problem originated.

It seems that there is some problem with parsing the?../config/default.xml. But I unfortunately have no clue where the problem lies.

所以，我指定了xml文件：

./semantic_suma/bin/visualizer semantic_suma/config/default.xml

成功運行！

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2022.08.31更新....

這裏，上次說指定xml文件，否則不出現可視化界面，今天看代碼時發現，代碼中指定的有默認路徑：?

if (argc <= 1) {parseXmlFile("../config/default.xml", params);} else {parseXmlFile(argv[1], params);}

但是因爲是相對路徑，所以需要進入semantic_suma/bin中，就可以不用指定xml文件路徑了。?

復現視頻

suma++ TensorRT Not Found

rangenet_lib tensorRT8.**?

總結

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