orbslam2编译中出现的问题

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-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/rgbd_tum.dir/build.make:159: recipe for target '../Examples/RGB-D/rgbd_tum' failed
make[2]: *** [../Examples/RGB-D/rgbd_tum] Error 1
CMakeFiles/Makefile2:215: recipe for target 'CMakeFiles/rgbd_tum.dir/all' failed
make[1]: *** [CMakeFiles/rgbd_tum.dir/all] Error 2
/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'
/optcollect2: error: ld returned 1 exit status
/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_tum.dir/build.make:159: recipe for target '../Examples/Monocular/mono_tum' failed
make[2]: *** [../Examples/Monocular/mono_tum] Error 1
CMakeFiles/Makefile2:141: recipe for target 'CMakeFiles/mono_tum.dir/all' failed
make[1]: *** [CMakeFiles/mono_tum.dir/all] Error 2
CMakeFiles/mono_kitti.dir/build.make:159: recipe for target '../Examples/Monocular/mono_kitti' failed
make[2]: *** [../Examples/Monocular/mono_kitti] Error 1
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/mono_kitti.dir/all' failed
make[1]: *** [CMakeFiles/mono_kitti.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

解决办法，修改CMakeLists.txt文件，

• 报错信息显示opencv版本为3.3.1，首先修改find_package中，将opencv改成指定版本

find_package(OpenCV 3.3.1 QUIET)
if(NOT OpenCV_FOUND)
   find_package(OpenCV 2.4.3 QUIET)
   if(NOT OpenCV_FOUND)
      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
   endif()
endif()

• 这是由于 openCV 库有多个产生的问题，预先安装了 anaconda ，由于默认把 anaconda 的路径已经加到了环境变量中。
  查找libopencv_imgcodecs3.so.3.3.1依赖的库

ldd /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1

显示如下信息

	linux-vdso.so.1 =>  (0x00007ffc9e7f9000)
	libopencv_imgproc3.so.3.3 => /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgproc3.so.3.3 (0x00007f9872a04000)
	libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007f98727e7000)
	libjpeg.so.8 => /usr/lib/x86_64-linux-gnu/libjpeg.so.8 (0x00007f987258e000)
	libwebp.so.5 => /usr/lib/x86_64-linux-gnu/libwebp.so.5 (0x00007f9872332000)
	libpng12.so.0 => /lib/x86_64-linux-gnu/libpng12.so.0 (0x00007f987210d000)
	libtiff.so.5 => /usr/lib/x86_64-linux-gnu/libtiff.so.5 (0x00007f9871e98000)
	libjasper.so.1 => /usr/lib/x86_64-linux-gnu/libjasper.so.1 (0x00007f9871c43000)
	libopencv_core3.so.3.3 => /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_core3.so.3.3 (0x00007f9870d09000)
	libz.so.1 => /lib/x86_64-linux-gnu/libz.so.1 (0x00007f9870aef000)
	libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007f987076d000)
	libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007f9870464000)
	libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007f987024e000)
	libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007f986fe84000)
	/lib64/ld-linux-x86-64.so.2 (0x00007f9875929000)
	liblzma.so.5 => /lib/x86_64-linux-gnu/liblzma.so.5 (0x00007f986fc62000)
	libjbig.so.0 => /usr/lib/x86_64-linux-gnu/libjbig.so.0 (0x00007f986fa54000)
	libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007f986f850000)
	librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007f986f648000)

找到 libtiff.so.5 => /usr/lib/x86_64-linux-gnu/libtiff.so.5 (0x00007f9871e98000)
，于是在CMakelist.txt中修改指定tiff的路径，如下

target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
/usr/lib/x86_64-linux-gnu/libtiff.so.5
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
)

修改完毕，再次编译

./build.sh

成功！！！！

 87%] Linking CXX executable ../Examples/Monocular/mono_euroc
[ 87%] Built target mono_euroc
[ 87%] Built target mono_kitti
[ 87%] Built target mono_tum
[ 87%] Built target rgbd_tum
Scanning dependencies of target stereo_kitti
Scanning dependencies of target stereo_euroc
[ 93%] Building CXX object CMakeFiles/stereo_kitti.dir/Examples/Stereo/stereo_kitti.cc.o
[ 93%] Building CXX object CMakeFiles/stereo_euroc.dir/Examples/Stereo/stereo_euroc.cc.o
[ 96%] Linking CXX executable ../Examples/Stereo/stereo_kitti
[100%] Linking CXX executable ../Examples/Stereo/stereo_euroc
[100%] Built target stereo_kitti
[100%] Built target stereo_euroc