安装ORB_SLAM2

安装ORB_SLAM2

参考链接https://github.com/Ewenwan/ORB_SLAM2_SSD_Semantic

安装Pangolin

要安装0.6版本
参考链接https://blog.csdn.net/Dbojuedzw/article/details/125004382?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522166058402416781685382988%2522%252C%2522scm%2522%253A%252220140713.130102334…%2522%257D&request_id=166058402416781685382988&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2_allsobaiduend~default-3-125004382-null-null.142%5Ev40%5Epc_rank_34_ecpm0,185%5Ev2%5Econtrol&utm_term=error:%20%E2%80%98slots_reference%E2%80%99%20was%20not%20declared%20in%20this%20scope&spm=1018.2226.3001.4187
参考链接https://github.com/stevenlovegrove/Pangolin
前面没问题正常安装
当执行cmake --build build -t pypangolin_pip_install命令时

安装报错：make: *** 没有规则可制作目标“pypangolin_pip_install”。

根据该文章描述需要安装pybind11

安装pybind11参考文章1和文章2
删掉之前的build文件重新安装
在执行cmake -B build -GNinja命令时
报错：CMake Error: Error: generator : Ninja
这是因为之前编译过产生了产生了缓存文件CMakeCache.txt
解决方案：删除CMakeCache.txt文件

rm -f `find -name CMakeCache.txt`

参考链接：http://www.taodudu.cc/news/show-1364421.html?action=onClick

安装opencv3.4.0

参考链接https://www.yii666.com/blog/487553.html

cd opencv-3.4.0/
mkdir build
cd build
cmake ..
sudo make -j4
sudo make install

在运行sudo make -j4指令时
报错Makefile:182：all] 错误 2
解决方法：（参考链接https://blog.csdn.net/newbee_man/article/details/118546576）

1. sudo nano opencv-x.x.x/modules/python/src2/cv2.cpp opencv-x.x.x是opencv路径
2. Ctrl+W 寻找关键字：PyString_AsString(obj)
3. 在前面加上(char *)，修改后为(char *)PyString_AsString(obj);
4. 保存并退出：Ctrl+x，回车，回车
5. 重新编译opencv
   

添加环境变量

sudo gedit /etc/ld.so.conf

添加 include /usr/local/lib 语句
输入下面命令使生效

sudo ldconfig

修改bash.bashrc文件

sudo gedit /etc/bash.bashrc 

在文件末尾添加这两行语句

PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig
export PKG_CONFIG_PATH

输入下面命令使生效

source /etc/bash.bashrc

检查安装是否成功

pkg-config opencv --modversion

安装ORB-SLAM2

报错：fatal error: Eigen/Core: No such file or directory
https://blog.csdn.net/qq_44164791/article/details/130971625

报错：warning: libopencv_core.so.4.2, needed by /opt/ros/noetic/lib/libcv_bridge.so, may conflict with lib
参考链接：https://blog.csdn.net/qq_41873057/article/details/129943471
解决办法：修改catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2目录下的CMakeLists.txt，添加以下语句

/usr/local/lib/libopencv_core.so.3.4
/usr/local/lib/libopencv_imgproc.so.3.4
/usr/lib/x86_64-linux-gnu/libopencv_core.so.4.2
/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.4.2
-lboost_system

最后修改的结果：

set(LIBS
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/…/…/…/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/…/…/…/Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/…/…/…/lib/libORB_SLAM2.so
/usr/local/lib/libopencv_core.so.3.4
/usr/local/lib/libopencv_imgproc.so.3.4
/usr/lib/x86_64-linux-gnu/libopencv_core.so.4.2
/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.4.2
-lboost_system
)
注意很多文章都是在其他平台安装的ROS所有写的是/usr/lib/aarch64-linux-gnu/libopencv_core.so.4.2，而我是在Intel平台下安装的ROS所以要将aarch64换成x86_64，不然就找不到指定的文件，安装还是报一样的错

不清楚自己的libopencv_imgproc.so安装在哪可以参考这篇文章https://blog.csdn.net/YLYwj/article/details/131766994