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Ubuntu 22.04安装ORB-SLAM2

参考1
参考2

1.从源码编译opencv

make[2]: *** [3rdparty/openexr/CMakeFiles/IlmImf.dir/build.make:118: 3rdparty/openexr/CMakeFiles/IlmImf.dir/IlmImf/ImfAcesFile.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:1475: 3rdparty/openexr/CMakeFiles/IlmImf.dir/all] Error 2
make: *** [Makefile:166: all] Error 2

解决办法：
cmake命令后添加-DWITH_OPENEXR=OFF -DBUILD_OPENEXR=OFF

2. 编译ORB-SLAM2报错

double free or corruption (out)
Aborted (core dumped)

Eigen安装版本错误，应当按照3.3.7版本

3. 编译ORB-SLAM2找不到Eigen

未正确移动Eigen

sudo cp -r /usr/local/include/eigen3/Eigen /usr/local/include
sudo cp -r /usr/local/include/Eigen /usr/include
sudo cp -r /usr/local/include/eigen3 /usr/include

4.报错unsleep

在报错的cc文件中添加#include <unistd.h>

5.编译PCL1.8.0

5.1 https://github.com/connorcoley/ochem_predict_nn/issues/14