orbslam2编译中出现的问题

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最新推荐文章于 2024-01-11 21:31:55 发布

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本文链接：https://blog.csdn.net/weixin_42623382/article/details/106216727

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在编译ORB_SLAM2时遇到OpenCV版本冲突问题，由于系统同时存在ROS自带和自装的OpenCV版本。解决方法是修改CMakeLists.txt，指定OpenCV版本，并调整库依赖路径，例如libopencv_imgcodecs3.so.3.3.1对libtiff.so.5的依赖。通过这些修改，成功解决了编译错误。

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1、opencv版本问题，自带ros安装有opencv，同时又自己安装了另一个版本的opencv，导致系统找不到对应opencv，或者使用anaconda安装虚拟环境，系统的环境变量默认为虚拟环境conda下的opencv。在orbslam编译执行命令

./build.sh

出现如下报错：

[ 75%] Linking CXX executable ../Examples/Monocular/mono_tum
/opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1: undefined reference to `TIFFReadRGBAStrip@LIBTIFF_4.0'
/opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1: undefined reference to `TIFFReadDirectory@LIBTIFF_4.0'
/opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1: undefined reference to `TIFFWriteEncodedStrip@LIBTIFF_4.0'
/opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1: undefined reference to `TIFFIsTiled@LIBTIFF_4.0'
/opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1: undefined reference to `TIFFWriteScanline@LIBTIFF_4.0'
/opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1: undefined reference to `TIFFGetField@LIBTIFF_4.0'
/opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1: undefined reference to `TIFFNumberOfStrips@LIBTIFF_4.0'
/opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1: undefined reference to `TIFFScanlineSize@LIBTIFF_4.0'
/opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1: undefined reference to `TIFFReadEncodedTile@LIBTIFF_4.0'
/opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1: undefined reference to `TIFFReadRGBATile@LIBTIFF_4.0'
/opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1: undefined reference to `TIFFClose@LIBTIFF_4.0'
/opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1: undefined reference to `TIFFClientOpen@LIBTIFF_4.0'
/opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1: undefined reference to `TIFFRGBAImageOK@LIBTIFF_4.0'
/opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1: undefined reference to `TIFFOpen@LIBTIFF_4.0'
/opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1: undefined reference to `TIFFReadEncodedStrip@LIBTIFF_4.0'
/opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1: undefined reference to `TIFFSetField@LIBTIFF_4.0'
/opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1: undefined reference to `TIFFSetWarningHandler@LIBTIFF_4.0'
/opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1: undefined reference to `TIFFSetErrorHandler@LIBTIFF_4.0'
collect2: error: ld returned 1 exit status
CMakeFiles/mono_euroc.dir/build.make:159: recipe for target '../Examples/Monocular/mono_euroc' failed
make[2]: *** [../Examples/Monocular/mono_euroc] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/mono_euroc.dir/all' failed
make[1]: *** [CMakeFiles/mono_euroc.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/opt/ros/kinetic/lib/x86_64-linux