ORB_SLAM2编译之Pangolin安装与报错解决

AAAAAJoker

已于 2024-04-22 10:17:39 修改

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文章标签： c++ linux

于 2024-02-19 18:20:54 首次发布

本文链接：https://blog.csdn.net/qq_62964142/article/details/136175664

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编译ORB_SLAM2之前要先安装Pangolin不然会报错

Pangolin的安装

1.下载pangolin

git clone https://github.com/stevenlovegrove/Pangolin.git

2.安装依赖

sudo apt install libglew-dev
sudo apt install cmake
sudo apt install libgl1-mesa-dev
sudo apt install libpython2.7-dev
sudo apt install pkg-config

3.安装pangolin

cd Pangolin
mkdir build
cd build
cmake ..
cmake --build .    # 注意最后那个点

测试安装是否成功

利用example里面的例子测试

cd /Pangolin/examples/HelloPangolin
mkdir build
cd build
cmake ..
make -j4
./HelloPangolin

显示可拖拽的彩色立体方块即安装成功。

编译ORB_SLAM2的Pangolin错误

/home/river/soft/Pangolin/components/pango_core/include/sigslot/signal.hpp:269:26: error: ‘decay_t’ is not a member of ‘std’; did you mean ‘decay’?
  269 |     function_traits<std::decay_t<T>>::ptr(t, d);

这个错误是由Pangolin引起的，将ORB-SLAM2最外层的CMakeLists.txt中的c++支持从c++11修改为c++14即可。

原来的

# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
   add_definitions(-DCOMPILEDWITHC11)
   message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
   add_definitions(-DCOMPILEDWITHC0X)
   message(STATUS "Using flag -std=c++0x.")
else()
   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

修改后的

# Check C++14 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX14)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
   add_definitions(-DCOMPILEDWITHC11)
   message(STATUS "Using flag -std=c++14.")
elseif(COMPILER_SUPPORTS_CXX0X)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
   add_definitions(-DCOMPILEDWITHC0X)
   message(STATUS "Using flag -std=c++0x.")
else()
   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler.")
endif()

再编译就能通过了。