编译ORB-SLAM2遇到的问题及解决方法
萌新复现ORB-SLAM2
将遇到的问题记录下来便于下次复现
参照的博客是https://blog.csdn.net/wang_yifan_/article/details/107425151?utm_medium=distribute.pc_relevant.none-task-blog-utm_term-14&spm=1001.2101.3001.4242
1…/build.sh编译问题
/home/mw/catkin_ws/src/ORB_SLAM2/src/LoopClosing.cc:84:9: error: ‘usleep’ was not declared in this scope
usleep(5000);
在有error的地方里面加入
#include <unistd.h>
2…/build_ros.sh编译问题
/usr/bin/ld: CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: 无法添加符号: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/RGBD.dir/build.make:227: recipe for target '../RGBD' failed
make[2]: *** [../RGBD] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/RGBD.dir/all' failed
make[1]: *** [CMakeFiles/RGBD.dir/all] Error 2
Makefile:129: recipe for target 'all' failed
make: *** [all] Error 2
在/Examples/ROS/ORB_SLAM2/CMakeLists.txt中增加
-lboost_system
具体为
set(LIBS
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
-lboost_system
)