ORB_SLAM2调试过程

1、更改CMakelist.txt因为可能使用的EIgen版本和OpenCV版本不一样
https://www.cnblogs.com/happyamyhope/p/10166907.html
2、每次编译完之后要把ThirdParty下面的Build文件夹也删除
3、/home/hotfinda/graduation/ORB_SLAM2/src/LoopClosing.cc:84:20: error: ‘usleep’ was not declared in this scope
usleep(5000);
https://www.cnblogs.com/blog-xyy/p/12259237.html
4\pangolin路径有问题
Could not find a package configuration file provided by “Pangolin” with any
of the following names:

PangolinConfig.cmake
pangolin-config.cmake

Add the installation prefix of “Pangolin” to CMAKE_PREFIX_PATH or set
“Pangolin_DIR” to a directory containing one of the above files. If
“Pangolin” provides a separate development package or SDK, be sure it has
been installed.

https://blog.csdn.net/qq_43328798/article/details/107867072
https://blog.csdn.net/weixin_40712763/article/details/82292209
4.In file included from /usr/local/include/eigen3/Eigen/Core:363:0,
from /home/hotfinda/example_slambook/slambook2-master/3rdparty/Pangolin/include/pangolin/display/opengl_render_state.h:40,
from /home/hotfinda/example_slambook/slambook2-master/3rdparty/Pangolin/include/pangolin/display/viewport.h:31,
from /home/hotfinda/example_slambook/slambook2-master/3rdparty/Pangolin/include/pangolin/gl/gl.h:30,
from /home/hotfinda/example_slambook/slambook2-master/3rdparty/Pangolin/include/pangolin/pangolin.h:33,
from /home/hotfinda/graduation/ORB_SLAM2/include/MapDrawer.h:27,
from /home/hotfinda/graduation/ORB_SLAM2/include/Viewer.h:26,
from /home/hotfinda/graduation/ORB_SLAM2/include/Tracking.h:28,
from /home/hotfinda/graduation/ORB_SLAM2/include/LocalMapping.h:27,
from /home/hotfinda/graduation/ORB_SLAM2/include/LoopClosing.h:25,
from /home/hotfinda/graduation/ORB_SLAM2/include/Optimizer.h:27,
from /home/hotfinda/graduation/ORB_SLAM2/src/Optimizer.cc:21:
/usr/local/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
解决：
https://blog.csdn.net/u010003609/article/details/100676041
5.
make[2]: *** No rule to make target ‘/home/hotfinda/example_slambook/slambook2-master/3rdparty/Pangolin/build/src/libpangolin.so’, needed by ‘…/lib/libORB_SLAM2.so’. Stop.
make[2]: *** Waiting for unfinished jobs…
我搞错了pangolin的文件位置，应该在home/pangolin下面

6./home/hotfinda/graduation/ORB_SLAM2/Examples/Monocular/mono_euroc.cc:74:48: error: ‘CV_LOAD_IMAGE_UNCHANGED’ was not declared in this scope
im = cv::imread(vstrImageFilenames[ni],CV_LOAD_IMAGE_UNCHANGED);

     https://www.cnblogs.com/jimchen1218/p/12608095.html

https://blog.csdn.net/CxC2333/article/details/107848500

7…/Examples/Monocular/mono_kitti Vocabulary/ORBvoc.txt Examples/Monocular/KITTI00-02.yaml /home/hotfinda/graduation/KITTI数据集/data_odometry_gray/dataset/sequences/00