ORB-SLAM2编译过程中遇到的一些坑

有两个版本的ORB-SLAM2，笔者的环境是ubuntu20.04，OpenCV3.4.15，pangolin v0.6(pangolin最新和v0.5亲测Not OK) 

一个是Git上开源的Original版本，BUG比较多。

git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2

另一个是高博的改进版本，优化了很多bug,而且加入了3D点云。

https://github.com/gaoxiang12/ORBSLAM2_with_pointcloud_map

笔者将两个版本都调通了，接下来说以下在调试过程中遇到的一些bug的处理过程：

先说原版吧：

1.build.sh 编译过程中大段报错，都C++11/14找不到库有关，比如

‘slots_reference’ was not declared in this scope

具体报错可以参考

https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/458

解决的方法就是把build文件夹删除，在终端打一句

sed -i 's/++11/++14/g' CMakeLists.txt

之后再重新编译即可

2.报错：

error: static assertion failed: std::map must have the same value_type as its allocator
       static_assert(is_same<typename _Alloc::value_type, value_type>::value,

这个可以参考

https://github.com/raulmur/ORB_SLAM2/pull/585

这篇文字上的解答，具体需要：

再说说高博版本：

这个帖子中写了基本的编译和关于PCL点云处理的一些方法。

https://blog.csdn.net/creative1/article/details/122115215?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522165527909516781432929460%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=165527909516781432929460&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v1~rank_v33_ecpm-4-122115215-null-null.142^v16^rank_v33,157^v14^new_3&utm_term=ORBSLAM2_with_pointcloud_map&spm=1018.2226.3001.4187

遇到的最主要的问题就是OpenCV版本，Eigen版本，PCL版本等问题，

PCL编译报错很多的时候，需要直接在CMakelist里面指定C++版本为14后重新编译，更改以后的Cmakelist如下：

cmake_minimum_required(VERSION 2.8)
project(ORB_SLAM2)

set(CMAKE_CXX_STANDARD 14)
#在这里直接指定编译版本

IF(NOT CMAKE_BUILD_TYPE)
  SET(CMAKE_BUILD_TYPE Release)
ENDIF()

MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})

#set(CMAKE_CXX_COMPILER "clang++")

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3 -march=native")

# 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()
#这里Pkg的版本号除了点云的全部干掉
LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
set(OpenCV_DIR /usr/local/lib)
find_package(OpenCV REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(Pangolin REQUIRED)
find_package(G2O REQUIRED)
find_package( PCL 1.7 REQUIRED )

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)

add_definitions( ${PCL_DEFINITIONS} )
link_directories( ${PCL_LIBRARY_DIRS} )

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

add_library(${PROJECT_NAME} SHARED
src/System.cc
src/Tracking.cc
src/LocalMapping.cc
src/LoopClosing.cc
src/ORBextractor.cc
src/ORBmatcher.cc
src/FrameDrawer.cc
src/Converter.cc
src/MapPoint.cc
src/KeyFrame.cc
src/Map.cc
src/MapDrawer.cc
src/Optimizer.cc
src/PnPsolver.cc
src/Frame.cc
src/KeyFrameDatabase.cc
src/Sim3Solver.cc
src/Initializer.cc
src/Viewer.cc
src/pointcloudmapping.cc
)

target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
g2o_core g2o_types_slam3d g2o_solver_csparse g2o_stuff g2o_csparse_extension g2o_types_sim3 g2o_types_sba
${PCL_LIBRARIES}
)

# Build examples

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)

add_executable(rgbd_tum
Examples/RGB-D/rgbd_tum.cc)
target_link_libraries(rgbd_tum ${PROJECT_NAME})

add_executable(rgbd_my
Examples/RGB-D/rgbd_my.cc)
target_link_libraries(rgbd_my ${PROJECT_NAME})

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)

add_executable(stereo_kitti
Examples/Stereo/stereo_kitti.cc)
target_link_libraries(stereo_kitti ${PROJECT_NAME})

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)

add_executable(mono_tum
Examples/Monocular/mono_tum.cc)
target_link_libraries(mono_tum ${PROJECT_NAME})

add_executable(mono_kitti
Examples/Monocular/mono_kitti.cc)
target_link_libraries(mono_kitti ${PROJECT_NAME})