配置ORBSLAM中的问题

• 1. eigen版本

之前为3.3.4，更改为3.2.10

改为3.1.4

ubuntu 卸载安装eigen3_ubuntu卸载eigen3_野马AS的博客-CSDN博客

查询版本

pkg-config --modversion eigen3

修改文件名

发现ORB_SLAM3对比ORB_SLAM2，ORB_SLAM3的根目录少了一个文件夹 cmake_modules

里面存放这Find_Eigen文件 所以去Github上把这个文件夹下载下来放到ORB_SLAM3根目录和Thirdparty/G2o的根目录里

• 2. Pangolin

 but it set Pangolin_FOUND to FALSE so package "Pangolin" is considered to
  be NOT FOUND.  Reason given by package:

重新安装了Pangolin 0.5

ORB_SLAM2安装Pangolin报错缺少Eigen3_pangolin 找不到eigen_陨越的博客-CSDN博客

/home/wingerly/ORB_SLAM3/src/System.cc:740:23: error: no match for ‘operator*’ (operand types are ‘Sophus::SE3f {aka Sophus::SE3<float>}’ and ‘Sophus::SE3f {aka Sophus::SE3<float>}’)

MakeFiles/ORB_SLAM3.dir/build.make:62: recipe for target 'CMakeFiles/ORB_SLAM3.dir/src/System.cc.o' failed
make[2]: *** [CMakeFiles/ORB_SLAM3.dir/src/System.cc.o] Error 1
CMakeFiles/Makefile2:548: recipe for target 'CMakeFiles/ORB_SLAM3.dir/all' failed
make[1]: *** [CMakeFiles/ORB_SLAM3.dir/all] Error 2
Makefile:83: recipe for target 'all' failed

• 3.Sophus中

在Sophus的Cmake.list中更改了寻找eigen3的版本为3.1.4

问题3 

/home/wingerly/ORB_SLAM3/src/System.cc:1252:35: error: no match for ‘operator*’ (operand types are ‘Sophus::SE3<float>’ and ‘Sophus::SE3f {aka Sophus::SE3<float>}’)
         Sophus::SE3f Tcw = (*lit) * Trw;

CMakeFiles/ORB_SLAM3.dir/build.make:62: recipe for target 'CMakeFiles/ORB_SLAM3.dir/src/System.cc.o' failed
make[2]: *** [CMakeFiles/ORB_SLAM3.dir/src/System.cc.o] Error 1
CMakeFiles/Makefile2:548: recipe for target 'CMakeFiles/ORB_SLAM3.dir/all' failed
make[1]: *** [CMakeFiles/ORB_SLAM3.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

在System.cc中做以下修改

 

 安装orbslam3时报错：error: no match for ‘operator/’_威少少熬夜的博客-CSDN博客

按照方法2修改

 上述错误仍在，且出现新的如下

 

卸载ros,重装opecncv

tx2 ubuntu1804 opencv3.4 cuda10 compile_libgl.so_#冷风那个吹#的博客-CSDN博客

sudo mv former_name new_name