编译semantic_slam_nav_ros-master

编译问题收录

1.添加Vocabulary

在ros包的下新建Vocabulary文件夹，添加ORBvoc.txt词典。使用ORBSLAM2的词典文件即可。

2.安装腾讯ncnn库

cd Thirdparty/ncnn
mkdir build&&cd build
cmake ..
make
sudo make install
sudo cp Thirdparty/ncnn/build/install/lib/libncnn.a /usr/lib

问题1：ncnn要求cmake的版本最低是3.10，因此需要升级。
解决：参考这篇博客

问题2：

[  2%] Built target mxnet2ncnn
Makefile:129: recipe for target 'all' failed
make: *** [all] Error 2

或

[ 89%] Built target ncnnoptimize
tools/caffe/CMakeFiles/caffe2ncnn.dir/build.make:61: *** target pattern contains no '%'。 停止。
CMakeFiles/Makefile2:330: recipe for target 'tools/caffe/CMakeFiles/caffe2ncnn.dir/all' failed
make[1]: *** [tools/caffe/CMakeFiles/caffe2ncnn.dir/all] Error 2
Makefile:129: recipe for target 'all' failed
make: *** [all] Error 2

解决：安装protoc sudo apt install protobuf-compiler

[ 98%] Linking CXX executable ncnnoptimize
[ 98%] Built target ncnnoptimize
[100%] Linking CXX executable caffe2ncnn
[100%] Built target caffe2ncnn

编译通过

3.编译问题

在src目录下catkin_make:
问题1未安装cv_bridge
解决：安装cv_bridge，源码
问题2

CMake Error at /usr/local/share/cmake-3.10/Modules/FindBoost.cmake:1928 (message):
  Unable to find the requested Boost libraries.
  Boost version: 1.58.0
  Boost include path: /usr/include
  Could not find the following Boost libraries: boost_python37

解决：安装boost1.58.0

The Boost C++ Libraries were successfully built!

查看cv_bridge的CmakeList.txt

if(PYTHONLIBS_VERSION_STRING VERSION_LESS "3.8")
    # Debian Buster
    find_package(Boost REQUIRED python37)
  else()
    # Ubuntu Focal
    find_package(Boost REQUIRED python)

下载3.8的python
修改默认python版本
未完待续