ubuntu20编译运行orb-slam3踩坑

菜饭骨头汤无锡总代理

已于 2022-03-27 18:14:13 修改

阅读量1.2w

点赞数 11

文章标签： ubuntu 人工智能

于 2022-03-20 16:30:48 首次发布

本文链接：https://blog.csdn.net/qq_39533374/article/details/123615548

版权

orb3-编译网上教程很多，写一下自己安装编译过程中踩的坑，一个半星期，终于可以跑demo了。

1.出现如下问题，或者在Build target g2o时卡住。

make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:375：CMakeFiles/ORB_SLAM3.dir/src/MLPnPsolver.cpp.o] 错误 1
make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:76：CMakeFiles/ORB_SLAM3.dir/src/Tracking.cc.o] 错误 1
make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:245：CMakeFiles/ORB_SLAM3.dir/src/Frame.cc.o] 错误 1
make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:102：CMakeFiles/ORB_SLAM3.dir/src/LoopClosing.cc.o] 错误 1
make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:323：CMakeFiles/ORB_SLAM3.dir/src/G2oTypes.cc.o] 错误 1
make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:232：CMakeFiles/ORB_SLAM3.dir/src/Optimizer.cc.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:390：CMakeFiles/ORB_SLAM3.dir/all] 错误 2
make: *** [Makefile:84：all] 错误 2

make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:375：CMakeFiles/ORB_SLAM3.dir/src/MLPnPsolver.cpp.o] 错误 1

make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:76：CMakeFiles/ORB_SLAM3.dir/src/Tracking.cc.o] 错误 1

make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:245：CMakeFiles/ORB_SLAM3.dir/src/Frame.cc.o] 错误 1

make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:102：CMakeFiles/ORB_SLAM3.dir/src/LoopClosing.cc.o] 错误 1

make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:323：CMakeFiles/ORB_SLAM3.dir/src/G2oTypes.cc.o] 错误 1

make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:232：CMakeFiles/ORB_SLAM3.dir/src/Optimizer.cc.o] 错误 1

make[1]: *** [CMakeFiles/Makefile2:390：CMakeFiles/ORB_SLAM3.dir/all] 错误 2

make: *** [Makefile:84：all] 错误 2

解决方法： orb-slam3/CMakeLists.xt中添加 set(CMAKE_CXX_STANDARD 14)或者

add_compile_options(-std=c++14)

2：Package opencv was not found in the pkg-config search path

解决方法：

cd /usr/local/lib
sudo mkdir pkgconfig
cd pkgconfig
sudo touch opencv.pc
sudo gedit opencv.pc

然后复制：

prefix=/usr/local
exec_prefix=${prefix}
includedir=${prefix}/include
libdir=${exec_prefix}/lib

Name: opencv
Description: The opencv library
Version:4.0.1
Cflags: -I${includedir}/opencv4
Libs: -L${libdir} -lopencv_shape -lopencv_stitching -lopencv_objdetect -lopencv_superres -lopencv_videostab -lopencv_calib3d -lopencv_features2d -lopencv_highgui -lopencv_videoio -lopencv_imgcodecs -lopencv_video -lopencv_photo -lopencv_ml -lopencv_imgproc -lopencv_flann -lopencv_core
~
opencv4不自动生成opencv.pc文件，并且使用opencv4时 build_ros时需要更改cmakelst

3.eigen版本太高会包warning，在使用jetson、树莓派等内存较低的设备编译时会卡死。

4.建议使用ubuntu18