ORB_SLAM2_modified编译

CMake Error at CMakeLists.txt:37 (message):
OpenCV > 2.4.3 not found.
– Configuring incomplete, errors occurred!

/ORBSLAM2_with_pointcloud_map/ORB_SLAM2_modified/CMakeLists.txt 33行

find_package(OpenCV 3.0 QUIET)

并添加

SET(CMAKE_CXX_STANDARD 14)

改为

set(OpenCV_DIR /$PATH to opencv/build)
find_package(OpenCV QUIET)

/ORBSLAM2_with_pointcloud_map/ORB_SLAM2_modified/include/ORBextractor.h 26行
改为

#include <opencv2/opencv.hpp>

error: ‘CV_RGB2GRAY’ was not declared in this scope
177 | cvtColor(mImGray,mImGray,CV_RGB2GRAY);
| ^~~~~~~~~~~
解决方法
MapPoint.h添加

#include <opencv2/imgproc/types_c.h>

/ORBSLAM2_with_pointcloud_map/ORB_SLAM2_modified/Examples/Monocular/mono_euroc.cc:74:48: error: ‘CV_LOAD_IMAGE_UNCHANGED’ was not declared in this scope
74 | im = cv::imread(vstrImageFilenames[ni],CV_LOAD_IMAGE_UNCHANGED);
| ^~~~~~~~~~~~~~~~~~~~~~~
将CV_LOAD_IMAGE_UNCHANGED改为cv::IMREAD_UNCHANGED

error: ‘CvMat’ was not declared in this scope
591 | CvMat ABt = cvMat(3, 3, CV_64F, abt);

PnPsolver.h添加

#include <opencv2/imgproc/types_c.h>

/usr/include/c++/9/bits/stl_map.h:122:71: error: static assertion failed: std::map must have the same value_type as its allocator
122 | static_assert(is_same<typename _Alloc::value_type, value_type>::value,
| ^~~~~

typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>,
        Eigen::aligned_allocator<std::pair<const KeyFrame*, g2o::Sim3> > > KeyFrameAndPose;

改为

typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>,
        Eigen::aligned_allocator<std::pair<KeyFrame *const, g2o::Sim3> > > KeyFrameAndPose;