ORB-SLAM2中使用ROS遇到Bad argument (Invalid pointer to file storage) in cvGetFileNodeByName

在最近的调试代码中，有一个问题Bad argument (Invalid pointer to file storage) in cvGetFileNodeByName困扰了我一段时间，查询国内的方案也没有找到方法。在寻找了github的问答中，有人提出了解决方案，且亲测可行。

https://github.com/raulmur/ORB_SLAM2/issues/103

 

Ok with two days of struggling here is my solution:
First my environment:

Ubuntu 1604 under VMware
ROS Kinetic
OpenCV 2.4.10

I first tried to compile ORB_SLAM with the OpenCV3.1.0 inside ROS follow the introduction provided by@cmxnono, however error occurs while cmake:

1. CMake Error in CMakeLists.txt:

2. Imported target "opencv_xphoto" includes non-existent path

3.  

4. "/usr/include/opencv-3.1.0-dev/opencv"

5.  

6. in its INTERFACE_INCLUDE_DIRECTORIES. Possible reasons include: