ORBSLAM3 v1.0测试

1.使用usb摄像头出现waiting for image，解决方法如下

(ORB-SLAM3: Current Frame:9100): Gdk-ERROR **: 10:37:44.516: The program 'ORB-SLAM3: Current Frame' received an X Window System error.
This probably reflects a bug in the program.
The error was 'BadWindow (invalid Window parameter)'.
  (Details: serial 11642 error_code 3 request_code 20 (core protocol) minor_code 0)
  (Note to programmers: normally, X errors are reported asynchronously;
   that is, you will receive the error a while after causing it.
   To debug your program, run it with the GDK_SYNCHRONIZE environment
   variable to change this behavior. You can then get a meaningful
   backtrace from your debugger if you break on the gdk_x_error() function.)
Trace/breakpoint trap (core dumped)

2.t265xiangjiyunxing

In my case,
change dir to yours ros_ws working directory.

type vim src/realsense-ros/realsense2_camera/CMakeLists.txt

add the following code link to OpenCV

find_package(OpenCV 4 REQUIRED) include_directories(${OpenCV_INCLUDE_DIRS) target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS} )

T265

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