ORB_SLAM2项目中的报错及解决方法

问题一：ORB_SLAM2 libORB_SLAM2.so: cannot open shared object file: No such file or directory报错解决方法

解决方法：执行下面语句

sudo cp lib/libORB_SLAM2.so /usr/lib
sudo cp Thirdparty/g2o/lib/libg2o.so /usr/lib
sudo cp Thirdparty/DBoW2/lib/libDBoW2.so /usr/lib

问题二：编译时出现

/usr/include/c++/9/bits/stl_map.h:122:71: error: static assertion failed: std::map must have the same value_type as its allocator
  122 |       static_assert(is_same<typename _Alloc::value_type, value_type>::value,
      |                                                                       ^~~~~
make[2]: *** [CMakeFiles/ORB_SLAM2.dir/build.make:118：CMakeFiles/ORB_SLAM2.dir/src/LoopClosing.cc.o] 错误 1
make[2]: *** 正在等待未完成的任务....
make[2]: *** [CMakeFiles/ORB_SLAM2.dir/build.make:244：CMakeFiles/ORB_SLAM2.dir/src/Optimizer.cc.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:95：CMakeFiles/ORB_SLAM2.dir/all] 错误 2
make: *** [Makefile:91：all] 错误 2

 解决方法：

把incloud中LoopClosing.h中的
     typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>,
        Eigen::aligned_allocator<std::pair<const KeyFrame*, g2o::Sim3> > > KeyFrameAndPose;
改成下面
    typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>,
        Eigen::aligned_allocator<std::pair<KeyFrame* const, g2o::Sim3> > > KeyFrameAndPose;