使用VSCODE跑orbslam2踩的坑

GallagherZ

已于 2023-06-27 22:49:12 修改

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文章标签： slam

于 2023-06-27 15:37:18 首次发布

本文链接：https://blog.csdn.net/weixin_42465397/article/details/131400750

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我用的是ubuntu22.04，opencv是4.7，使用其他的库感觉就算版本不一样，也能跑。

一、运行build.sh能够产生可执行文件遇到的问题

1.由于opencv版本高带来的问题

这些问题怎么定位出现在哪些文件中，你通过命令行，运行下面三句话，然后看报的错的文件

cd ORB_SLAM2
chmod +x build.sh
./build.sh

问题1：找不到opencv/cv.h

由于我用的是cv4，代码用的cv3，而cv4没有opencv/cv.h，网上查了查用其他的库替代

替代方式：

如果还有类似的错就根据提示去查找问题的地方，然后进行修改。有两处需要多次修改的是当出现类似

问题2：出现类似error: ‘cvSolve’ was not declared in this scope

此时就在出错的文件里前面加上包含头文件：

注意这个错误出现过好多次，需要修改的地方比较多

问题3：未定义标识符“CV_BGR2GRAY“

错误原因：在新版本中，CV_BGR2GRAY被COLOR_BGR2GRAY替换。只需将CV改成COLOR就行。

在新版本中，CV基本都被COLOR替换。

问题4：error: ‘CV_LOAD_IMAGE_UNCHANGED’ was not declared in this scope

解决方案：CV_LOAD_IMAGE_UNCHANGED 改为 cv::IMREAD_UNCHANGED

2.c++ error: ‘decay_t’ is not a member of ‘std’

大概是c++版本的问题，在主目录下的CMakeLIists.txt上修改支持C++14标准

3.ORB_SLAM安装问题error: ‘std::chrono::monotonic_clock’ has not been declared

4.报错“没有规则可制作目标” 以及报opencv>2.4.3找不到的问题

修改CMakeList.txt

注意不只是修改一部分，还有那个thirdparty里面的CMakeList.txt也需要修改！！

我遇到的大体上是这些错误，遇到其他错误不要慌，找找总会有解决方法！

二、在vscode上配置第三方库

1. 首先是在c_cpp_properties.json增加库

{
    "configurations": [
        {
            "name": "Win32",
            "includePath": [
                "${workspaceFolder}/**",
                "/usr/local/include",
                "/usr/include/eigen3",
                "/usr/local/include/opencv4",
                "/home/gallagher/cpp_all/slam/ORB_SLAM2/include",
                "/usr/local/include/pangolin"
            ],
            "defines": [
                "_DEBUG",
                "UNICODE",
                "_UNICODE"
            ],
            "windowsSdkVersion": "10.0.18362.0",
            "compilerPath": "/usr/bin/g++-11",
            "cStandard": "c11",
            "cppStandard": "c++17",
            "intelliSenseMode": "msvc-x64"
        }
    ],
    "version": 4
}

运行任何一个Example里面的cc文件就会生成tasks.json和launch.json，其中tasks.json的配置如下（主要是-L和-I以及后面的连接库）：

{
    "tasks": [
        {
            "type": "cppbuild",
            "label": "C/C++: g++ 生成活动文件",
            "command": "/usr/bin/g++",
            "args": [
                "-fdiagnostics-color=always",
                "-g",
                "${file}",
                "-o",
                "${fileDirname}/${fileBasenameNoExtension}",
                "-L",
                "/usr/local/lib",
                "-L",
                "/usr/lib",
                "-L",
                "/home/gallagher/cpp_all/slam/ORB_SLAM2/lib",
                "-I",
                "/usr/include/eigen3",
                "-I",
                "${workspaceFolder}/",
                "-I",
                "/usr/local/include/",
                "-I",
                "/usr/local/include/opencv4/",
                "-I",
                "/usr/local/include/sophus/",
                "-I",
                "/usr/include/suitesparse",
                "-I",
                "/usr/local/include/pangolin/",
                "-I",
                "/home/gallagher/cpp_all/slam/ORB_SLAM2/include",
                "/usr/local/lib/libpangolin.so",
                "/usr/local/lib/libopencv_*",
                "/usr/local/lib/libgstgl-1.0.so.0",
                "/usr/local/lib/libSophus.so",
                "/home/gallagher/cpp_all/slam/ORB_SLAM2/lib/libORB_SLAM2.so"
            ],
            "options": {
                "cwd": "${fileDirname}"
            },
            "problemMatcher": [
                "$gcc"
            ],
            "group": {
                "kind": "build",
                "isDefault": true
            },
            "detail": "调试器生成的任务。"
        },
        {
            "type": "cppbuild",
            "label": "C/C++: g++-11 生成活动文件",
            "command": "/usr/bin/g++-11",
            "args": [
                "-fdiagnostics-color=always",
                "-g",
                "${file}",
                "-o",
                "${fileDirname}/${fileBasenameNoExtension}"
            ],
            "options": {
                "cwd": "${fileDirname}"
            },
            "problemMatcher": [
                "$gcc"
            ],
            "group": "build",
            "detail": "调试器生成的任务。"
        }
    ],
    "version": "2.0.0"
}