slambook2（ch5）—— Ubuntu18.04安装openCV3.2.0库 + 修改报错 + 例程演示

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最新推荐文章于 2022-11-07 14:14:19 发布

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分类专栏： slambook2 实践复现文章标签： linux ubuntu slam

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slambook2（ch5）—— Ubuntu18.04安装openCV3.2.0库 + 修改报错 + 例程演示

一、安装依赖项
二、安装Opecv3.2.0
- 1.下载opecv包，并提取到某位置，进行安装
- - 1.1报错：`-- ICV: Downloading ippicv_linux_20151201.tgz...`
  - 1.2报错： `fatal error: stdlib.h`: 没有那个文件或目录
三、例程测试

一、安装依赖项

1.按照书上的依赖项安装

sudo apt-get install build-essential libgtk2.0-dev libvtk5-dev libjpeg-dev libtiff4-dev libjasper-dev libopenexr-dev libtbb-dev

1.1报错：没有可用的软件包

没有可用的软件包 libtiff4-dev，但是它被其它的软件包引用了。
这可能意味着这个缺失的软件包可能已被废弃，
或者只能在其他发布源中找到
然而下列软件包会取代它：
  libtiff5-dev:i386 libtiff5-dev

没有可用的软件包 libvtk5-dev，但是它被其它的软件包引用了。
这可能意味着这个缺失的软件包可能已被废弃，
或者只能在其他发布源中找到
然而下列软件包会取代它：
  libvtk7-dev:i386 libvtk6-dev:i386 libvtk7-dev libvtk6-dev

E: 软件包 libvtk5-dev 没有可安装候选
E: 软件包 libtiff4-dev 没有可安装候选
E: 无法定位软件包 libjasper-dev

1.2报错无法定位软件包libjasper-dev的解决办法

sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt update
sudo apt upgrade
sudo apt install libjasper1 libjasper-dev

其中libjasper1是libjasper-dev的依赖包

2.装的新版本libvtk6-dev、libtiff5-dev重新安装

sudo apt-get install build-essential libgtk2.0-dev libvtk6-dev libjpeg-dev libtiff5-dev libopenexr-dev libtbb-dev

//记录版本
build-essential 已经是最新版 (12.4ubuntu1)。
libjpeg-dev 已经是最新版 (8c-2ubuntu8)。
libopenexr-dev 已经是最新版 (2.2.0-11.1ubuntu1.9)。
libtiff5-dev 已经是最新版 (4.0.9-5ubuntu0.4)。

2.1报错：有几个软件包无法下载

E: 无法下载 http://cn.archive.ubuntu.com/ubuntu/pool/main/t/tcl8.6/tcl8.6_8.6.8+dfsg-3_amd64.deb  Hash 校验和不符
E: 无法下载 http://cn.archive.ubuntu.com/ubuntu/pool/universe/t/tcltk-defaults/tk_8.6.0+9_amd64.deb  Hash 校验和不符
   Hashes of expected file:
    - SHA256:a158d36580f6d66ee5765ee83a2e8721de9dfc3ee5159cc98d8796a096e45940
    - SHA1:485767720808e8a66193e15eca22d0d177d49081 [weak]
    - MD5Sum:ac9c7f59c64d2e6574230de468c955cd [weak]
    - Filesize:3178 [weak]
   Hashes of received file:
    - SHA256:bc8c6506501b2e2c9ddfac6691a34c12fbf19c0c1f313e8bddf0d0c9f35bf0c5
    - SHA1:1ab8d584033663265c1ddd9d3368efd4f81aab79 [weak]
    - MD5Sum:5019ba04272f203459eeb2a0fd4475d3 [weak]
    - Filesize:3178 [weak]
   Last modification reported: Fri, 20 Nov 2015 17:20:42 +0000
E: 有几个软件包无法下载，要不运行 apt-get update 或者加上 --fix-missing 的选项再试试？

2.1.1处理方式一：

更新软件包管理器

sudo apt-get update
sudo apt-get install xxxx --fix-missing

继续报错：文件尺寸不符(545256 != 193888)。您使用的镜像正在同步中？

执行这两句之后，再尝试安装自己需要的软件。
获取:1 http://202.199.28.1/files/A0560000010FF685/mirrors.ustc.edu.cn/raspbian/raspbian bionic/main amd64 libtool all 2.4.6-2 [194 kB]
忽略:1 http://202.199.28.1/files/A0560000010FF685/mirrors.ustc.edu.cn/raspbian/raspbian bionic/main amd64 libtool all 2.4.6-2
错误:1 http://cn.archive.ubuntu.com/ubuntu bionic/main amd64 libtool all 2.4.6-2
  文件尺寸不符(545256 != 193888)。您使用的镜像正在同步中？ [IP: 202.199.28.1 80]
E: 无法下载 http://cn.archive.ubuntu.com/ubuntu/pool/main/libt/libtool/libtool_2.4.6-2_all.deb  文件尺寸不符(545256 != 193888)。您使用的镜像正在同步中？ [IP: 202.199.28.1 80]
E: 有几个软件包无法下载，要不运行 apt-get update 或者加上 --fix-missing 的选项再试试？

问题分析：
报错是因为需要安装某个依赖库，但是在安装过程中找不到该依赖，原因位置。可尝试解决方法：

2.1.2处理方式二：

更换阿里源代理
问题修复
1）备份源文件：

sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak

2）查看版本信息
如是Linux Mint等Ubuntu衍生版，执行：

cat /etc/upstream-release/lsb-release

如是Ubuntu直接执行：

lsb_release -c

确认当前系统代号（Codename）为：bionic。如是其他版本，请使用其他版本的软件源，其中：

Ubuntu 12.04 (LTS)代号为precise。
Ubuntu 14.04 (LTS)代号为trusty。
Ubuntu 15.04 代号为vivid。
Ubuntu 15.10 代号为wily。
Ubuntu 16.04 (LTS)代号为xenial。

3）修改sources.list：
修改/etc/apt/sources.list为以下内容：

deb http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse

4）检查更新

sudo apt-get update

5）重新安装软件

sudo apt-get install XXX

在这里插入图片描述
换阿里源后还是不行，继续换源！！！、

2.1.3处理方式三：

继续换源：选择最佳服务器
在这里插入图片描述

安装成功！！！！！

二、安装Opecv3.2.0

1.下载opecv包，并提取到某位置，进行安装

下载路径：https://codeload.github.com/opencv/opencv/zip/3.2.0

然后进入解压后的文件夹，在终端打开
接下来在命令行输入：

mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local/opencv3 ..
make -j4
sudo make install

值得注意的是，cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local/opencv3 …
这里一定要指定安装路径，注意这里与官网不一样！按照我的来

1.1报错：`-- ICV: Downloading ippicv_linux_20151201.tgz...`

-- ICV: Downloading ippicv_linux_20151201.tgz...
CMake Error at 3rdparty/ippicv/downloader.cmake:73 (file):
  file DOWNLOAD HASH mismatch

    for file: [/home/sfann/sf_slam_temp_code/ch2/opencv-3.2.0/3rdparty/ippicv/downloads/linux-808b791a6eac9ed78d32a7666804320e/ippicv_linux_20151201.tgz]
      expected hash: [808b791a6eac9ed78d32a7666804320e]
        actual hash: [d41d8cd98f00b204e9800998ecf8427e]
             status: [7;"Couldn't connect to server"]

原因及解决办法：
包ippicv下载过慢，则中断安装后，自己下载：

https://github.com/opencv/opencv_3rdparty/blob/ippicv/master_20151201/ippicv/ippicv_linux_20151201.tgz

如下载不了，是因为其服务器在国外我下载在阿里网盘中可以下载：https://www.aliyundrive.com/s/WzBfKzMLJ5k

然后将下载下来的ippicv_linux_20151201.tgz放入opencv3（让你指定的下载路径嘛）下面的：3rdparty/ippicv/downloads/linux-808b791a6eac9ed78d32a7666804320e里即可。
命令行输入：

cp ippicv_linux_20151201.tgz* -rf /home/sfann/sf_slam_temp_code/ch2/opencv-3.2.0/3rdparty/ippicv/downloads/linux-808b791a6eac9ed78d32a7666804320e

1.2报错： `fatal error: stdlib.h`: 没有那个文件或目录

报错：fatal error: stdlib.h: 没有那个文件或目录

[ 21%] Generating precomp.hpp.gch/opencv_viz_Release.gch
In file included from /usr/include/c++/7/ext/string_conversions.h:41:0,
                 from /usr/include/c++/7/bits/basic_string.h:6361,
                 from /usr/include/c++/7/string:52,
                 from /usr/include/c++/7/stdexcept:39,
                 from /usr/include/c++/7/array:39,
                 from /usr/include/c++/7/tuple:39,
                 from /usr/include/c++/7/bits/stl_map.h:63,
                 from /usr/include/c++/7/map:61,
                 from /home/sfann/sf_slam_temp_code/ch2/opencv-3.2.0/build/modules/viz/precomp.hpp:49:
/usr/include/c++/7/cstdlib:75:15: fatal error: stdlib.h: 没有那个文件或目录
 #include_next <stdlib.h>
               ^~~~~~~~~~
compilation terminated.
modules/viz/CMakeFiles/pch_Generate_opencv_viz.dir/build.make:81: recipe for target 'modules/viz/precomp.hpp.gch/opencv_viz_Release.gch' failed
make[2]: *** [modules/viz/precomp.hpp.gch/opencv_viz_Release.gch] Error 1
CMakeFiles/Makefile2:3186: recipe for target 'modules/viz/CMakeFiles/pch_Generate_opencv_viz.dir/all' failed
make[1]: *** [modules/viz/CMakeFiles/pch_Generate_opencv_viz.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
[ 21%] Built target pch_Generate_opencv_video
[ 21%] Built target pch_Generate_opencv_test_video
[ 21%] Built target pch_Generate_opencv_perf_video
Makefile:181: recipe for target 'all' failed
make: *** [all] Error 2

解决办法：
则cmake预编译修改为：

cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local/opencv3 -D ENABLE_PRECOMPILED_HEADERS=OFF ..

主要是加了一个参数：-D ENABLE_PRECOMPILED_HEADERS=OFF

然后重新继续安装

最后opencv3就被完整地安装在usr/local下面的个opencv3文件夹
编译成功如下：

[100%] Linking CXX executable ../../bin/opencv_perf_stitching
[100%] Built target opencv_perf_stitching
[100%] Linking CXX executable ../../bin/opencv_test_calib3d
[100%] Built target opencv_test_calib3d
[100%] Linking CXX shared module ../../lib/cv2.so
[100%] Built target opencv_python

安装如下：

Set runtime path of "/usr/local/opencv3/bin/opencv_traincascade" to "/usr/local/opencv3/lib"
-- Installing: /usr/local/opencv3/bin/opencv_createsamples
-- Set runtime path of "/usr/local/opencv3/bin/opencv_createsamples" to "/usr/local/opencv3/lib"
-- Installing: /usr/local/opencv3/bin/opencv_annotation
-- Set runtime path of "/usr/local/opencv3/bin/opencv_annotation" to "/usr/local/opencv3/lib"
-- Installing: /usr/local/opencv3/bin/opencv_visualisation
-- Set runtime path of "/usr/local/opencv3/bin/opencv_visualisation" to "/usr/local/opencv3/lib"
-- Installing: /usr/local/opencv3/bin/opencv_version
-- Set runtime path of "/usr/local/opencv3/bin/opencv_version" to "/usr/local/opencv3/lib"

查看是否安装成功

pkg-config --modversion opencv

缺失了opencv.pc这个配置信息文件：

Package opencv was not found in the pkg-config search path.
Perhaps you should add the directory containing `opencv.pc'
to the PKG_CONFIG_PATH environment variable
No package 'opencv' found

解决办法：

sudo apt install libopencv-dev

在这里插入图片描述

三、例程测试

1.imageBasics

1.1CMakeLists.txt :

修改为：

set( CMAKE_CXX_FLAGS "-std=c++11")

cmake_minimum_required( VERSION 2.8 )
project( imageBasics )

set(OpenCV_DIR "usr/local/opencv3/share/OpenCV")

# 寻找OpenCV库
find_package( OpenCV REQUIRED )
# 添加头文件
include_directories( ${OpenCV_INCLUDE_DIRS} )
# 可执行程序
add_executable( imageBasics imageBasics.cpp )
# 链接OpenCV库
target_link_libraries( imageBasics ${OpenCV_LIBS} )

add_executable(undistortImage undistortImage.cpp)
# 链接OpenCV库
target_link_libraries(undistortImage ${OpenCV_LIBS})

1.2执行：

./imageBasics /home/sfann/sf_slam_temp_code/ch5/imageBasics/ubuntu.png

1.3结果：

图像宽为1200,高为674,通道数为3
Gtk-Message: 15:27:46.145: Failed to load module "canberra-gtk-module"

在这里插入图片描述

1.4报错：Gtk-Message: 16:09:54.200: Failed to load module "canberra-gtk-module"解决方法

执行操作：

sudo apt-get install libcanberra-gtk-module

2.undistortImage

测试图像去畸变

2.1CMakeLists：

# 可执行程序
add_executable(undistortImage undistortImage.cpp)
# 链接OpenCV库
target_link_libraries(undistortImage ${OpenCV_LIBS})

2.2运行：

./undistortImage /home/sfann/sf_slam_temp_code/ch5/imageBasics/distorted.png

2.3代码运行报错：

OpenCV Error: Assertion failed (size.width>0 && size.height>0) in imshow, file /home/sfann/sf_slam_temp_code/ch2/opencv-3.2.0/modules/highgui/src/window.cpp, line 304
terminate called after throwing an instance of 'cv::Exception'
  what():  /home/sfann/sf_slam_temp_code/ch2/opencv-3.2.0/modules/highgui/src/window.cpp:304: error: (-215) size.width>0 && size.height>0 in function imshow

已放弃 (核心已转储)

2.4解决方案：

图片和undistortImage 不再同一文件夹。复制到build中即可。

./undistortImage /home/sfann/sf_slam_temp_code/ch5/imageBasics/distorted.png

2.5运行结果：

在这里插入图片描述

3.stereoVision

3.1CMakeLists.txt :

project(stereo)
cmake_minimum_required(VERSION 3.2)
# 链接OpenCV库
#find_package( OpenCV REQUIRED )

find_package(Pangolin REQUIRED)
 
find_package(OpenCV 3.2 REQUIRED)      #由于好几个版本所以这里指定个高版本的

include_directories(${OpenCV_INCLUDE_DIRS})  
#添加Eigen头文件
include_directories("/usr/include/eigen3")   #根据你的安装路径来选择

set(CMAKE_CXX_FLAGS "-std=c++11")
#set(CMAKE_CXX_STANDARD 17)
 
add_executable(stereoVision stereoVision.cpp)
target_link_libraries(stereoVision ${OpenCV_LIBS} ${Pangolin_LIBRARIES})

3.2修改图片路径：

// 文件路径
string left_file = "../left.png";
string right_file = "../right.png";

3.3编译结果：

-- Configuring done
-- Generating done
-- Build files have been written to: /home/sfann/sf_slam_temp_code/ch5/stereo/build

3.4make报错：

/usr/local/include/sigslot/signal.hpp:1077:23: note: suggested alternative: ‘Pmf’
         return typeid(pmf);
                       ^~~
                       Pmf
/usr/local/include/sigslot/signal.hpp: At global scope:
/usr/local/include/sigslot/signal.hpp:1115:27: error: ‘conditional_t’ in namespace ‘std’ does not name a template type
     using cow_type = std::conditional_t<is_thread_safe<L>::value,
                           ^~~~~~~~~~~~~
/usr/local/include/sigslot/signal.hpp:1119:32: error: ‘conditional_t’ in namespace ‘std’ does not name a template type
     using cow_copy_type = std::conditional_t<is_thread_safe<L>::value,
                                ^~~~~~~~~~~~~
/usr/local/include/sigslot/signal.hpp:1201:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type
     std::enable_if_t<trait::is_callable_v<arg_list, Callable>, connection>
          ^~~~~~~~~~~
/usr/local/include/sigslot/signal.hpp:1221:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type
     std::enable_if_t<trait::is_callable_v<ext_arg_list, Callable>, connection>
          ^~~~~~~~~~~
/usr/local/include/sigslot/signal.hpp:1241:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type
     std::enable_if_t<trait::is_callable_v<arg_list, Pmf, Ptr> &&
          ^~~~~~~~~~~
/usr/local/include/sigslot/signal.hpp:1261:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type
     std::enable_if_t<trait::is_callable_v<arg_list, Pmf, Ptr> &&
          ^~~~~~~~~~~
/usr/local/include/sigslot/signal.hpp:1281:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type
     std::enable_if_t<trait::is_callable_v<ext_arg_list, Pmf, Ptr> &&
          ^~~~~~~~~~~
/usr/local/include/sigslot/signal.hpp:1310:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type
     std::enable_if_t<!trait::is_callable_v<arg_list, Pmf> &&
          ^~~~~~~~~~~
/usr/local/include/sigslot/signal.hpp:1340:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type
     std::enable_if_t<trait::is_callable_v<arg_list, Callable> &&
          ^~~~~~~~~~~
/usr/local/include/sigslot/signal.hpp:1376:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type
     std::enable_if_t<(trait::is_callable_v<arg_list, Callable> ||
          ^~~~~~~~~~~
/usr/local/include/sigslot/signal.hpp:1399:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type
     std::enable_if_t<!trait::is_callable_v<arg_list, Obj> &&
          ^~~~~~~~~~~
/usr/local/include/sigslot/signal.hpp:1522:12: error: ‘cow_copy_type’ does not name a type; did you mean ‘lock_type’?
     inline cow_copy_type<list_type, Lockable> slots_reference() {
            ^~~~~~~~~~~~~
            lock_type
/usr/local/include/sigslot/signal.hpp:1529:36: error: ‘make_slot’ function uses ‘auto’ type specifier without trailing return type
     inline auto make_slot(A && ...a) {
                                    ^
/usr/local/include/sigslot/signal.hpp:1529:36: note: deduced return type only available with -std=c++14 or -std=gnu++14
/usr/local/include/sigslot/signal.hpp:1589:5: error: ‘cow_type’ does not name a type; did you mean ‘lock_type’?
     cow_type<list_type, Lockable> m_slots;
     ^~~~~~~~
     lock_type
/usr/local/include/sigslot/signal.hpp: In constructor ‘sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::signal_base(sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >&&)’:
/usr/local/include/sigslot/signal.hpp:1146:14: error: ‘m_slots’ was not declared in this scope
         swap(m_slots, o.m_slots);
              ^~~~~~~
/usr/local/include/sigslot/signal.hpp:1146:14: note: suggested alternative: ‘m_block’
         swap(m_slots, o.m_slots);
              ^~~~~~~
              m_block
/usr/local/include/sigslot/signal.hpp: In member function ‘sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >& sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::operator=(sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >&&)’:
/usr/local/include/sigslot/signal.hpp:1155:14: error: ‘m_slots’ was not declared in this scope
         swap(m_slots, o.m_slots);
              ^~~~~~~
/usr/local/include/sigslot/signal.hpp:1155:14: note: suggested alternative: ‘m_block’
         swap(m_slots, o.m_slots);
              ^~~~~~~
              m_block
/usr/local/include/sigslot/signal.hpp: In member function ‘void sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::operator()(U&& ...)’:
/usr/local/include/sigslot/signal.hpp:1180:9: error: ‘cow_copy_type’ was not declared in this scope
         cow_copy_type<list_type, Lockable> ref = slots_reference();
         ^~~~~~~~~~~~~
/usr/local/include/sigslot/signal.hpp:1180:9: note: suggested alternative: ‘lock_type’
         cow_copy_type<list_type, Lockable> ref = slots_reference();
         ^~~~~~~~~~~~~
         lock_type
/usr/local/include/sigslot/signal.hpp:1180:32: error: expected primary-expression before ‘,’ token
         cow_copy_type<list_type, Lockable> ref = slots_reference();
                                ^
/usr/local/include/sigslot/signal.hpp:1180:42: error: expected primary-expression before ‘>’ token
         cow_copy_type<list_type, Lockable> ref = slots_reference();
                                          ^
/usr/local/include/sigslot/signal.hpp:1180:44: error: ‘ref’ was not declared in this scope
         cow_copy_type<list_type, Lockable> ref = slots_reference();
                                            ^~~
/usr/local/include/sigslot/signal.hpp:1180:44: note: suggested alternative:
In file included from /usr/include/c++/7/bits/std_function.h:44:0,
                 from /usr/include/c++/7/functional:58,
                 from /usr/include/eigen3/Eigen/Core:262,
                 from /home/sfann/sf_slam_temp_code/ch5/stereo/stereoVision.cpp:4:
/usr/include/c++/7/bits/refwrap.h:382:5: note:   ‘std::ref’
     ref(reference_wrapper<_Tp> __t) noexcept
     ^~~
In file included from /usr/local/include/pangolin/utils/signal_slot.h:3:0,
                 from /usr/local/include/pangolin/windowing/window.h:35,
                 from /usr/local/include/pangolin/display/display.h:34,
                 from /usr/local/include/pangolin/pangolin.h:38,
                 from /home/sfann/sf_slam_temp_code/ch5/stereo/stereoVision.cpp:5:
/usr/local/include/sigslot/signal.hpp:1180:50: error: there are no arguments to ‘slots_reference’ that depend on a template parameter, so a declaration of ‘slots_reference’ must be available [-fpermissive]
         cow_copy_type<list_type, Lockable> ref = slots_reference();
                                                  ^~~~~~~~~~~~~~~
/usr/local/include/sigslot/signal.hpp:1180:50: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated)
/usr/local/include/sigslot/signal.hpp: In member function ‘size_t sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::disconnect(const Callable&, const Obj&)’:
/usr/local/include/sigslot/signal.hpp:1423:41: error: use of ‘auto’ in lambda parameter declaration only available with -std=c++14 or -std=gnu++14
         return disconnect_if([&] (const auto &s) {
                                         ^~~~
/usr/local/include/sigslot/signal.hpp: In lambda function:
/usr/local/include/sigslot/signal.hpp:1424:21: error: base operand of ‘->’ is not a pointer
             return s->has_object(obj) && s->has_callable(c);
                     ^~
/usr/local/include/sigslot/signal.hpp:1424:43: error: base operand of ‘->’ is not a pointer
             return s->has_object(obj) && s->has_callable(c);
                                           ^~
/usr/local/include/sigslot/signal.hpp: In member function ‘size_t sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::disconnect(sigslot::group_id)’:
/usr/local/include/sigslot/signal.hpp:1439:46: error: ‘m_slots’ was not declared in this scope
         for (auto &group : detail::cow_write(m_slots)) {
                                              ^~~~~~~
/usr/local/include/sigslot/signal.hpp:1439:46: note: suggested alternative: ‘m_block’
         for (auto &group : detail::cow_write(m_slots)) {
                                              ^~~~~~~
                                              m_block
/usr/local/include/sigslot/signal.hpp: In member function ‘size_t sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::slot_count()’:
/usr/local/include/sigslot/signal.hpp:1486:9: error: ‘cow_copy_type’ was not declared in this scope
         cow_copy_type<list_type, Lockable> ref = slots_reference();
         ^~~~~~~~~~~~~
/usr/local/include/sigslot/signal.hpp:1486:9: note: suggested alternative: ‘lock_type’
         cow_copy_type<list_type, Lockable> ref = slots_reference();
         ^~~~~~~~~~~~~
         lock_type
/usr/local/include/sigslot/signal.hpp:1486:32: error: expected primary-expression before ‘,’ token
         cow_copy_type<list_type, Lockable> ref = slots_reference();
                                ^
/usr/local/include/sigslot/signal.hpp:1486:42: error: expected primary-expression before ‘>’ token
         cow_copy_type<list_type, Lockable> ref = slots_reference();
                                          ^
/usr/local/include/sigslot/signal.hpp:1486:44: error: ‘ref’ was not declared in this scope
         cow_copy_type<list_type, Lockable> ref = slots_reference();
                                            ^~~
/usr/local/include/sigslot/signal.hpp:1486:44: note: suggested alternative:
In file included from /usr/include/c++/7/bits/std_function.h:44:0,
                 from /usr/include/c++/7/functional:58,
                 from /usr/include/eigen3/Eigen/Core:262,
                 from /home/sfann/sf_slam_temp_code/ch5/stereo/stereoVision.cpp:4:
/usr/include/c++/7/bits/refwrap.h:382:5: note:   ‘std::ref’
     ref(reference_wrapper<_Tp> __t) noexcept
     ^~~
In file included from /usr/local/include/pangolin/utils/signal_slot.h:3:0,
                 from /usr/local/include/pangolin/windowing/window.h:35,
                 from /usr/local/include/pangolin/display/display.h:34,
                 from /usr/local/include/pangolin/pangolin.h:38,
                 from /home/sfann/sf_slam_temp_code/ch5/stereo/stereoVision.cpp:5:
/usr/local/include/sigslot/signal.hpp:1486:50: error: there are no arguments to ‘slots_reference’ that depend on a template parameter, so a declaration of ‘slots_reference’ must be available [-fpermissive]
         cow_copy_type<list_type, Lockable> ref = slots_reference();
                                                  ^~~~~~~~~~~~~~~
/usr/local/include/sigslot/signal.hpp: In member function ‘void sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::clean(sigslot::detail::slot_state*)’:
/usr/local/include/sigslot/signal.hpp:1504:46: error: ‘m_slots’ was not declared in this scope
         for (auto &group : detail::cow_write(m_slots)) {
                                              ^~~~~~~
/usr/local/include/sigslot/signal.hpp:1504:46: note: suggested alternative: ‘m_block’
         for (auto &group : detail::cow_write(m_slots)) {
                                              ^~~~~~~
                                              m_block
/usr/local/include/sigslot/signal.hpp: In member function ‘void sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::add_slot(sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::slot_ptr&&)’:
/usr/local/include/sigslot/signal.hpp:1538:42: error: ‘m_slots’ was not declared in this scope
         auto &groups = detail::cow_write(m_slots);
                                          ^~~~~~~
/usr/local/include/sigslot/signal.hpp:1538:42: note: suggested alternative: ‘m_block’
         auto &groups = detail::cow_write(m_slots);
                                          ^~~~~~~
                                          m_block
/usr/local/include/sigslot/signal.hpp: In member function ‘size_t sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::disconnect_if(Cond&&)’:
/usr/local/include/sigslot/signal.hpp:1560:42: error: ‘m_slots’ was not declared in this scope
         auto &groups = detail::cow_write(m_slots);
                                          ^~~~~~~
/usr/local/include/sigslot/signal.hpp:1560:42: note: suggested alternative: ‘m_block’
         auto &groups = detail::cow_write(m_slots);
                                          ^~~~~~~
                                          m_block
/usr/local/include/sigslot/signal.hpp:1564:28: error: range-based ‘for’ expression of type ‘auto’ has incomplete type
         for (auto &group : groups) {
                            ^~~~~~
/usr/local/include/sigslot/signal.hpp: In member function ‘void sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::clear()’:
/usr/local/include/sigslot/signal.hpp:1584:27: error: ‘m_slots’ was not declared in this scope
         detail::cow_write(m_slots).clear();
                           ^~~~~~~
/usr/local/include/sigslot/signal.hpp:1584:27: note: suggested alternative: ‘m_block’
         detail::cow_write(m_slots).clear();
                           ^~~~~~~
                           m_block
/usr/local/include/sigslot/signal.hpp: In instantiation of ‘void sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::operator()(U&& ...) [with U = {pangolin::VarState::Event}; Lockable = std::mutex; T = {pangolin::VarState::Event}]’:
/usr/local/include/pangolin/var/varstate.h:264:23:   required from ‘std::map<std::__cxx11::basic_string<char>, std::shared_ptr<pangolin::VarValueGeneric> >::iterator pangolin::VarState::AddUpgradedVar(const std::shared_ptr<pangolin::VarValue<T> >&, const iterator&, bool) [with T = bool; std::map<std::__cxx11::basic_string<char>, std::shared_ptr<pangolin::VarValueGeneric> >::iterator = std::_Rb_tree_iterator<std::pair<const std::__cxx11::basic_string<char>, std::shared_ptr<pangolin::VarValueGeneric> > >]’
/usr/local/include/pangolin/var/varstate.h:205:13:   required from ‘std::shared_ptr<pangolin::VarValueGeneric> pangolin::VarState::GetOrCreateVar(const T&, const pangolin::VarMeta&) [with T = bool]’
/usr/local/include/pangolin/var/var.h:83:50:   required from ‘pangolin::Var<T>::Var(const T&, const pangolin::VarMeta&) [with T = bool]’
/usr/local/include/pangolin/var/var.h:88:35:   required from ‘pangolin::Var<T>::Var(const string&, const T&) [with T = bool; std::__cxx11::string = std::__cxx11::basic_string<char>]’
/usr/local/include/pangolin/display/widgets.h:153:50:   required from here
/usr/local/include/sigslot/signal.hpp:1180:65: error: ‘slots_reference’ was not declared in this scope
         cow_copy_type<list_type, Lockable> ref = slots_reference();
                                                  ~~~~~~~~~~~~~~~^~
CMakeFiles/stereoVision.dir/build.make:81: recipe for target 'CMakeFiles/stereoVision.dir/stereoVision.cpp.o' failed
CMakeFiles/Makefile2:94: recipe for target 'CMakeFiles/stereoVision.dir/all' failed
make[3]: *** [CMakeFiles/stereoVision.dir/stereoVision.cpp.o] Error 1
make[2]: *** [CMakeFiles/stereoVision.dir/all] Error 2
CMakeFiles/Makefile2:101: recipe for target 'CMakeFiles/stereoVision.dir/rule' failed
make[1]: *** [CMakeFiles/stereoVision.dir/rule] Error 2
Makefile:137: recipe for target 'stereoVision' failed
make: *** [stereoVision] Error 2

原因：由于我下载的是最新版本的Pangolin（目前是Pangolin0.6）而Pangolin0.6用的是C++17标准编译。而ORB_SLAM2 和 slambook2 的代码用的还是C++11,因此报了一大堆不明error。
解决办法：
在CMakeLists中修改：

#set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_STANDARD 17)

3.5执行结果：

在这里插入图片描述

4.stereoVision

4.1CMakeLists：

project(rgbd)
 
cmake_minimum_required(VERSION 3.10)
 
find_package(Sophus REQUIRED)
 
add_executable(joinMap joinMap.cpp)
#add_executable(joinMap1 joinMap1.cpp)
 
include_directories(${Sophus_INCLUDE_DIRS})
 
#链接OpenCV库
 
find_package(OpenCV REQUIRED)
 
#添加头文件
 
include_directories( ${OpenCV-INCLUDE_DIRS})
 
target_link_libraries(joinMap ${OpenCV_LIBS} ${Pangolin_LIBRARIES})

find_package(Pangolin REQUIRED)

target_link_libraries(joinMap ${OpenCV_LIBS} ${Pangolin_LIBRARIES})
 
# Eigen
 
include_directories("/usr/include/eigen3")
 
target_link_libraries(joinMap ${Sophus_LIBRARIES} fmt)
 
#链接c++11
 
set(CMAKE_CXX_FLAGS "-std=c++14")

4.2执行结果：

转换图像中: 1
转换图像中: 2
转换图像中: 3
转换图像中: 4
转换图像中: 5
点云共有0个点.
Point cloud is empty!

原因：修改路径
在这里插入图片描述

4.3结果：

转换图像中: 1
转换图像中: 2
转换图像中: 3
转换图像中: 4
转换图像中: 5
点云共有1081843个点.

在这里插入图片描述

@曾记否

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slambook2（ch5）—— Ubuntu18.04安装openCV3.2.0库 + 修改报错 + 例程演示

按照书上的依赖项：sudo apt-get install build-essential libgtk2.0-dev libvtk5-dev libjpeg-dev libtiff4-dev libjasper-dev libopenexr-dev libtbb-dev报错：没有可用的软件包 libtiff4-dev，但是它被其它的软件包引用了。这可能意味着这个缺失的软件包可能已被废弃，或者只能在其他发布源中找到然而下列软件包会取代它： libtiff5-dev:i386 libtiff
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