视觉SLAM十四讲 报错 No rule to make target ‘/usr/local/lib/libDBoW3.a‘, needed by ‘gen_vocab‘.

1. 问题

在编译高博的视觉SLAM十四讲ch11的feature_training.cpp时，编译报错：

make[2]: *** No rule to make target '/usr/local/lib/libDBoW3.a', needed by 'gen_vocab'.  Stop.           
make[2]: *** Waiting for unfinished jobs....                                                             
make[2]: *** No rule to make target '/usr/local/lib/libDBoW3.a', needed by 'loop_closure'.  Stop.        
make[2]: *** Waiting for unfinished jobs....                                                             
make[2]: *** No rule to make target '/usr/local/lib/libDBoW3.a', needed by 'feature_training'.  Stop.    
make[2]: *** Waiting for unfinished jobs....                                                             
[ 33%] Building CXX object CMakeFiles/gen_vocab.dir/gen_vocab_large.cpp.o                                
[ 33%] Building CXX object CMakeFiles/loop_closure.dir/loop_closure.cpp.o                                
[ 50%] Building CXX object CMakeFiles/feature_training.dir/feature_training.cpp.o                        
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/feature_training.dir/all' failed                 
make[1]: *** [CMakeFiles/feature_training.dir/all] Error 2                                               
make[1]: *** Waiting for unfinished jobs.... 

2. 原因

编译程序DBow3的链接问题。

3. 解决方案

首先先安装好DBow3，可以在https://github.com/rmsalinas/DBow3下载：

git clone https://github.com/rmsalinas/DBow3.git
cd DBow3
mkdir build
cd build
cmake ..
make -j8
sudo make install

在make install之后，/usr/local/lib其实就已经生成了DBow3的链接文件，但是是动态链接文件.so：

libDBoW3.so 

由于高博给出的demo里使用的是3rdparty中的链接文件，离线链接文件使用.a静态链接文件libDBoW3.a会更好，所以只要把ch11中的CMakeLists.txt静态链接改为动态链接即可：

# set( DBoW3_LIBS "/usr/local/lib/libDBoW3.a" )
set( DBoW3_LIBS "/usr/local/lib/libDBoW3.so" )