ubuntu20.4下ORB_SLAM2使用Opencv4进行编译遇到的若干问题及解决方法
问题0
fatal error: opencv/cv.h: 没有那个文件或目录
解决
#include ==============================================================================
问题1
/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
static_assert(is_same::value,
解决
把LoopClosing.h第49行的
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;
==============================================================================
问题2
error: ‘CV_LOAD_IMAGE_UNCHANGED’ was not declared in this scope
解决
//在保存的文件中添加头文件
#include "opencv2/imgcodecs/legacy/constants_c.h"
==============================================================================
问题3
error: ‘usleep’ was not declared in this scope
解决
添加头文件
#include==============================================================================
问题4
找不的libboost_system.so或者libboost_filesystem.so或者和boost_system.so相关问题
解决
使用
locate libboost_system.so
locate libboost_filesystem.so
找到相关路径添加到 cmakeList中的set(LIBS ）
/usr/lib/x86_64-linux-gnu/libboost_system.so
/usr/lib/x86_64-linux-gnu/libboost_filesystem.so
若没有找到需要安装boost库
问题5
==============================================================================
error: ‘CV_MAX_DIM’ was not declared in this scope
解决
#include ==============================================================================
问题6
error: return-statement with a value, in function returning ‘void’ [-fpermissive]
解决
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fpermissive")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fpermissive")
==============================================================================
问题7
error: ‘CV_LOAD_IMAGE_UNCHANGED’ is not a member of ‘cv’
解决
添加（几乎所有的案例都要加）
#include "opencv2/imgcodecs/legacy/constants_c.h"
==============================================================================
问题8
error: ‘slots_reference’ was not declared in this scope
解决
这是最新 Pangolin的问题，卸载最新的 Pangolin。到 Pangolin项目的build中执行 sudo make uninstall
把 Pangolin切换到v0.6版(git checkout v0.6），在编译安装即可。
问题x
在CmakeList中设置了opencv库路径，在其他子项目中可能无法加载对应的库
解决
暴力解决手动添加Opencv库
/usr/local/lib/libopencv_gapi.so
/usr/local/lib/libopencv_stitching.so
/usr/local/lib/libopencv_alphamat.so
/usr/local/lib/libopencv_aruco.so
/usr/local/lib/libopencv_bgsegm.so
/usr/local/lib/libopencv_bioinspired.so
/usr/local/lib/libopencv_ccalib.so
/usr/local/lib/libopencv_dnn_objdetect.so
/usr/local/lib/libopencv_dnn_superres.so
/usr/local/lib/libopencv_dpm.so
/usr/local/lib/libopencv_face.so
/usr/local/lib/libopencv_freetype.so
/usr/local/lib/libopencv_fuzzy.so
/usr/local/lib/libopencv_hdf.so
/usr/local/lib/libopencv_hfs.so
/usr/local/lib/libopencv_img_hash.so
/usr/local/lib/libopencv_intensity_transform.so
/usr/local/lib/libopencv_line_descriptor.so
/usr/local/lib/libopencv_mcc.so
/usr/local/lib/libopencv_quality.so
/usr/local/lib/libopencv_rapid.so
/usr/local/lib/libopencv_reg.so
/usr/local/lib/libopencv_rgbd.so
/usr/local/lib/libopencv_saliency.so
/usr/local/lib/libopencv_stereo.so
/usr/local/lib/libopencv_structured_light.so
/usr/local/lib/libopencv_phase_unwrapping.so
/usr/local/lib/libopencv_superres.so
/usr/local/lib/libopencv_optflow.so
/usr/local/lib/libopencv_surface_matching.so
/usr/local/lib/libopencv_tracking.so
/usr/local/lib/libopencv_highgui.so
/usr/local/lib/libopencv_datasets.so
/usr/local/lib/libopencv_text.so
/usr/local/lib/libopencv_plot.so
/usr/local/lib/libopencv_videostab.so
/usr/local/lib/libopencv_videoio.so
/usr/local/lib/libopencv_viz.so
/usr/local/lib/libopencv_wechat_qrcode.so
/usr/local/lib/libopencv_xfeatures2d.so
/usr/local/lib/libopencv_shape.so
/usr/local/lib/libopencv_ml.so
/usr/local/lib/libopencv_ximgproc.so
/usr/local/lib/libopencv_video.so
/usr/local/lib/libopencv_dnn.so
/usr/local/lib/libopencv_xobjdetect.so
/usr/local/lib/libopencv_objdetect.so
/usr/local/lib/libopencv_calib3d.so
/usr/local/lib/libopencv_imgcodecs.so
/usr/local/lib/libopencv_features2d.so
/usr/local/lib/libopencv_flann.so
/usr/local/lib/libopencv_xphoto.so
/usr/local/lib/libopencv_photo.so
/usr/local/lib/libopencv_imgproc.so
/usr/local/lib/libopencv_core.so
参考
参考