关于ORB-SLAM2、VI_ORB_SLAM2的编译问题 Opencv4.4.0
1.关于Opencv4.42.缺少头文件3、头文件失效4、Opencv定义更换5、
1.关于Opencv4.4
报错:
OpenCV > 2.4.3 not found.
– Configuring incomplete, errors occurred!
修改cmakelist.txt,将opencv3.0改为4.4,一个是orbslam2文件夹,另一个是DBoW2文件夹。
find_package(OpenCV 4.4 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()
2.缺少头文件
报错:
error: ’usleep’ was not declared in this scope
可能还有一些关于usleep的错误
报错的文件包括:mono_euroc.cc、mono_kitti.cc、mono_tum.cc、rgbd_tum.cc、stereo_euroc.cc、stereo_kitti.cc、LoopClosing.cc、System.cc、Viewer.cc 在报错的文件上添加:
#include
3、头文件失效
报错:
fatal error: opencv/cv.h: 没有那个文件或目录
#include
报错文件:ORBextractor.h
将
#include
替换为
#include
#include
4、Opencv定义更换
报错:
error:'CV_LOAD_IMAGE_UNCHANGED' was not declared in this scope
报错的文件包括:mono_euroc.cc、mono_kitti.cc、mono_tum.cc、rgbd_tum.cc、stereo_euroc.cc、stereo_kitti.cc
将
CV_LOAD_IMAGE_UNCHANGED
替换为
cv::IMREAD_UNCHANGED
5、
报错:
/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
^~~~~
报错文件:LoopClosing.h
将
typedef map
Eigen::aligned_allocator
替换为
typedef map
Eigen::aligned_allocator
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