ORB_SLAM ROS编译问题：libopencv_core3.so.3.3.1，_ZN2cv6String10deallocateEv

文章转载自：https://blog.csdn.net/qq_43445817/article/details/100835304

感谢原作者.

ORBSLAM2地图保存、轨迹保存：https://blog.csdn.net/kyjl888/article/details/88416122
笔者首先在~/.bashrc上设置了路径：
1 sudo vim ~/.bashrc ##(gedit .bashrc)
2 export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/xiaoC/ORB_SLAM2/Examples/ROS
3 source ~/.bashrc
注意，后面这个path是笔者的路径，不同用户路径不同。

但是，slam-orbslam2与之前的orbslam编译会冲突
提示：
CMake Error at /opt/ros/kinetic/share/ros/core/rosbuild/private.cmake:102 (message):
[rosbuild] rospack found package “ORB_SLAM2” at
“/home/qian/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2”, but the
current directory is
“/home/qian/catkin_ws/src/map-orbslam/ORB_SLAM2/Examples/ROS/ORB_SLAM2”.
You should double-check your ROS_PACKAGE_PATH to ensure that packages are
found in the correct precedence order.
参考：https://www.cnblogs.com/yepeichu/p/10896201.html
理论上，这个应该要work的，不过遗憾的是，并没有。如何确认有没有work呢？方法是：
echo $ROS_PACKAGE_PATH

显示
　　/home/qian/catkin_ws/src/usb_cam:/home/qian/catkin_ws/src:/opt/ros/kinetic/share:/home/qian/catkin_ws/src/map-orbslam/ORB_SLAM2/Examples/ROS
　　显然之前路径已经定义到了catkin_ws/src,即未修改的ORBSLAM2的包在这个路径中;
但在执行：roscd ORB_SLAM2 时，定位到未修改的orbslam2。
方法是：
把未修改的ORBSLAM2压缩保存后，将src下的ORBSLAM2删除;
执行 roscd ORB_SLAM2 ；成功定位到 /map-orbslam/ORB_SLAM2/Examples/ROS/ORB_SLAM2

进行以下操作，
cd Examples/ROS/ORB_SLAM2
mkdir build
cd build
cmake … -DROS_BUILD_TYPE=Release
make -j
操作到：make -j时的报错
关于libboost_system
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command
方法一：在Example/ros/orbslam2/中的cmakelists.txt 里面set()上加"-lboost_system"，
方法二：在方法一中的cmakelists.txt的末尾添加（比较简单）：
target_link_libraries(Stereo boost_system boost_filesystem)
target_link_libraries(RGBD boost_system boost_filesystem)
target_link_libraries(Mono boost_system boost_filesystem)
方法三：移动文件到orbslam2/lib中
关于libopencv_core3.so.3.3.1
没错在解决了libboost_system这个bug时，又出来一个新bug.关键是两者还那么像，相当一段时间
没有发现是新问题，还是按照libboost找解决方案。哭辽
/usr/bin/ld: CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o: undefined reference to symbol ‘_ZN2cv6String10deallocateEv’
/opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_core3.so.3.3.1: error adding symbols: DSO missing from command line

解决方法和libboost的方法三差不多，都是移动文件至src/orb_slam2/lib中
我是将/opt/ros/kinetic/lib/x86_64-linux-gnu/文件夹下的libopencv_core3.so.3.3.1（没错就是它），移动到src/orb_slam2/lib中；
然后将example/ros/orb_slam2中的cmakelists.txt文件中set()添加
${PROJECT_SOURCE_DIR}/…/…/…/lib/libopencv_core3.so.3.3.1

set(LIBS
KaTeX parse error: Expected 'EOF', got '#' at position 15: {OpenCV_LIBS} #̲{OpenCV_LIBRARIES}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/…/…/…/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/…/…/…/Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/…/…/…/lib/libORB_SLAM2.so
${PROJECT_SOURCE_DIR}/…/…/…/lib/libopencv_core3.so.3.3.1
)