编译ORB_SLAM3 遇到的小坑总结

ORB_SLAM3与ORB_SLAM2的安装相同先请阅读此文章

orb_slam安装中的坑，mission planner多机仿真_Chasing的博客-CSDN博客

1. mz/catkin_ws/src/ORB_SLAM3/src/LocalMapping.cc:628:49: error: no match for ‘operator/’ (operand types are ‘cv::Matx’ and ‘float’) x3D = x3D_h.get_minor<3,1>(0,0) / x3D_h(3)错误

 将x3D = x3D_h.get_minor<3,1>(0,0) / x3D_h(3);

 修改为

  x3D = cv::Matx31f(x3D_h.get_minor<3,1>(0,0)(0) / x3D_h(3), x3D_h.get_minor<3,1>(0,0)(1) /    x3D_h(3), x3D_h.get_minor<3,1>(0,0)(2) / x3D_h(3));

 

 

2.出现 fatal error ：xxx.h 错误  没有那个文件或目录

        修改ORB-SLAM3/include路径下的Atlas.h，KeyFrame.h和Tracking.h

        分别将  #include "GeometricCamera.h"
                       #include "Pinhole.h"
                       #include "KannalaBrandt8.h"
 

        改为 ：#include "CameraModels/GeometricCamera.h"
                      #include "CameraModels/Pinhole.h"
                      #include "CameraModels/KannalaBrandt8.h"

 3.‘ORB_SLAM2’ has not been declared

          将提示出错的文件打开，将文件中出现的每一个ORB_SLAM2改为ORB_SLAM3

  4.   修改对应的cmakelists  加入-lboost_system

        

5. 定位不到ros

[rosbuild] rospack found package "ORB_SLAM3" at "", but the current
  directory is "/home/bill/ORB_SLAM3/Examples/ROS/ORB_SLAM3".  You should
  double-check your ROS_PACKAGE_PATH to ensure that packages are found in the
  correct precedence order.

解决办法：

    （1）首先在~/.bashrc上设置了路径（注意这个path是我的路径，读者需要自己修改）：

sudo vim ~/.bashrc
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/bill/ORB_SLAM3/Examples/ROS
source ~/.bashrc

    （2） 在ROS的安装路径下更改路径：

 

cd /opt/ros/melodic/
sudo vim setup.bash 
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/bill/ORB_SLAM3/Examples/ROS
source setup.bash

   （3）查看路径是否添加成功：

   

echo $ROS_PACKAGE_PATH