高翔视觉slam十四讲第二版第十一章DBow3词库安装与出现的问题-优快云博客

本文详细介绍了如何从Github获取DBow3词袋模型库，并将其安装到本地环境中。同时，针对在运行程序时可能出现的链接库错误问题提供了具体的解决方案，包括修改CMakeLists.txt文件中的库名。

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1、从Github上现在DBow3词袋模型库

git clone https://github.com/rmsalinas/DBow3.git

把解压缩后的文件放入slambook文件夹中的3drparty中，开始安装

2、开始安装DBow3库，进入DBow3目录

1 mkdir build
2 cd build/
3 cmake ..
4 make
5 sudo make install

安装完成！

3.运行程序出现的问题：

make[3]: *** No rule to make target '/usr/local/lib/libDBoW3.a', needed by 'feature_training'.  Stop.
CMakeFiles/Makefile2:109: recipe for target 'CMakeFiles/feature_training.dir/all' failed
make[2]: *** [CMakeFiles/feature_training.dir/all] Error 2
CMakeFiles/Makefile2:121: recipe for target 'CMakeFiles/feature_training.dir/rule' failed
make[1]: *** [CMakeFiles/feature_training.dir/rule] Error 2

第一行：No rule to make target '/usr/local/lib/libDBoW3.a’
或者显示：

no rule to make target '/usr/local/lib/libDBow3.so'

第一种情况只需要将CMakeList.txt中的libDBow3.so改为libDBow3.a即可。

第二种情况把.a改为.so。CMakeList.txt如下：倒数第四行

cmake_minimum_required( VERSION 2.8 )
project( loop_closure )

set( CMAKE_BUILD_TYPE "Release" )
set( CMAKE_CXX_FLAGS "-std=c++11 -O3" )

# opencv libDBow3.so
find_package( OpenCV 3.1 REQUIRED )
include_directories( ${OpenCV_INCLUDE_DIRS} )

# dbow3 
# dbow3 is a simple lib so I assume you installed it in default directory 
set( DBoW3_INCLUDE_DIRS "/usr/local/include" )
set( DBoW3_LIBS "/usr/local/lib/libDBoW3.a" )

add_executable( feature_training feature_training.cpp )
target_link_libraries( feature_training ${OpenCV_LIBS} ${DBoW3_LIBS} )