SLAM十四讲报错解决（3）

于 2025-01-08 16:52:05 发布
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分类专栏： SLAM14讲报错解决 文章标签： 笔记 linux opencv 人工智能 计算机视觉
版权声明：本文为博主原创文章，遵循 CC 4.0 BY-SA 版权协议，转载请附上原文出处链接和本声明。
本文链接：https://blog.youkuaiyun.com/FactoryNLS/article/details/145009139

简介：slambook2中所需的OpenCV3与安装的OpenCV4不兼容，以及库的目录不对或者找不到，运行ch7报错。修改了CMakeLists.txt文件和ch7中的一些cpp程序，文章最后给出了最终的CMakeLists.txt。

环境：ubuntu20.04，OpenCV4.5.5

其中slam的环境已经按照博客配置好了。

参考博客：【SLAM实战篇】Ubuntu 20.04版本（OpenCV版本4.5.3）对于ORB-SLAM2安装运行，代码编译，自己的数据集构造_orbslam2 github-优快云博客

首先在ch7目录下输入

mkdir build && cd build/
cmake ..

报错

 修改ch7的CMakeLists.txt，把find_package(OpenCV 3 REQUIRED)改为

find_package(OpenCV 4.5.5 QUIET)

 

重新cmake ..

编译

make -j4

 报错

[  8%] Building CXX object CMakeFiles/orb_cv.dir/orb_cv.cpp.o
[ 16%] Building CXX object CMakeFiles/orb_self.dir/orb_self.cpp.o
[ 25%] Building CXX object CMakeFiles/pose_estimation_2d2d.dir/pose_estimation_2d2d.cpp.o
[ 33%] Building CXX object CMakeFiles/triangulation.dir/triangulation.cpp.o
/home/rosnoetic/catkin_ws/src/slambook2/ch7/orb_cv.cpp: In function ‘int main(int, char**)’:
/home/rosnoetic/catkin_ws/src/slambook2/ch7/orb_cv.cpp:16:31: error: ‘CV_LOAD_IMAGE_COLOR’ was not declared in this scope
   16 |   Mat img_1 = imread(argv[1], CV_LOAD_IMAGE_COLOR);
      |                               ^~~~~~~~~~~~~~~~~~~
/home/rosnoetic/catkin_ws/src/slambook2/ch7/pose_estimation_2d2d.cpp: In function ‘int main(int, char**)’:
/home/rosnoetic/catkin_ws/src/slambook2/ch7/pose_estimation_2d2d.cpp:36:31: error: ‘CV_LOAD_IMAGE_COLOR’ was not declared in this scope
   36 |   Mat img_1 = imread(argv[1], CV_LOAD_IMAGE_COLOR);
      |                               ^~~~~~~~~~~~~~~~~~~
/home/rosnoetic/catkin_ws/src/slambook2/ch7/pose_estimation_2d2d.cpp: In function ‘void pose_estimation_2d2d(std::vector<cv::KeyPoint>, std::vector<cv::KeyPoint>, std::vector<cv::DMatch>, cv::Mat&, cv::Mat&)’:
/home/rosnoetic/catkin_ws/src/slambook2/ch7/pose_estimation_2d2d.cpp:143:61: error: ‘CV_FM_8POINT’ was not declared in this scope
  143 |   fundamental_matrix = findFundamentalMat(points1, points2, CV_FM_8POINT);
      |                                                             ^~~~~~~~~~~~
make[2]: *** [CMakeFiles/orb_cv.dir/build.make:79：CMakeFiles/orb_cv.dir/orb_cv.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:102：CMakeFiles/orb_cv.dir/all] 错误 2
make[1]: *** 正在等待未完成的任务....
make[2]: *** [CMakeFiles/pose_estimation_2d2d.dir/build.make:79：CMakeFiles/pose_estimation_2d2d.dir/pose_estimation_2d2d.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:164：CMakeFiles/pose_estimation_2d2d.dir/all] 错误 2
/home/rosnoetic/catkin_ws/src/slambook2/ch7/triangulation.cpp: In function ‘int main(int, char**)’:
/home/rosnoetic/catkin_ws/src/slambook2/ch7/triangulation.cpp:44:31: error: ‘CV_LOAD_IMAGE_COLOR’ was not declared in this scope
   44 |   Mat img_1 = imread(argv[1], CV_LOAD_IMAGE_COLOR);
      |                               ^~~~~~~~~~~~~~~~~~~
/home/rosnoetic/catkin_ws/src/slambook2/ch7/orb_self.cpp: In function ‘void BfMatch(const std::vector<std::vector<unsigned int> >&, const std::vector<std::vector<unsigned int> >&, std::vector<cv::DMatch>&)’:
/home/rosnoetic/catkin_ws/src/slambook2/ch7/orb_self.cpp:402:18: warning: narrowing conversion of ‘i1’ from ‘size_t’ {aka ‘long unsigned int’} to ‘int’ [-Wnarrowing]
  402 |     cv::DMatch m{i1, 0, 256};
      |                  ^~
make[2]: *** [CMakeFiles/triangulation.dir/build.make:79：CMakeFiles/triangulation.dir/triangulation.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:195：CMakeFiles/triangulation.dir/all] 错误 2
[ 41%] Linking CXX executable orb_self
[ 41%] Built target orb_self
make: *** [Makefile:91：all] 错误 2

即

根据报错提示，分别修改orb_cv的16、17行，pose_estimation_2d2d的36、37行，pose_estimation的143行，triangulation的44行，因为在OpenCV4里不再用CV_LOAD_IMAGE_COLOR等。

将  CV_LOAD_IMAGE_COLOR  更改为	cv::IMREAD_COLOR
将      CV_FM_8POINT     更改为	cv::FM_8POINT

 重新编译 make -j4，报错

[  8%] Building CXX object CMakeFiles/orb_cv.dir/orb_cv.cpp.o
[ 16%] Building CXX object CMakeFiles/pose_estimation_2d2d.dir/pose_estimation_2d2d.cpp.o
[ 33%] Built target orb_self
[ 41%] Building CXX object CMakeFiles/triangulation.dir/triangulation.cpp.o
[ 50%] Building CXX object CMakeFiles/pose_estimation_3d2d.dir/pose_estimation_3d2d.cpp.o
/home/rosnoetic/catkin_ws/src/slambook2/ch7/pose_estimation_3d2d.cpp:6:10: fatal error: Eigen/Core: 没有那个文件或目录
    6 | #include <Eigen/Core>
      |          ^~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/pose_estimation_3d2d.dir/build.make:79：CMakeFiles/pose_estimation_3d2d.dir/pose_estimation_3d2d.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:226：CMakeFiles/pose_estimation_3d2d.dir/all] 错误 2
make[1]: *** 正在等待未完成的任务....
[ 58%] Linking CXX executable orb_cv
[ 58%] Built target orb_cv
[ 66%] Linking CXX executable pose_estimation_2d2d
[ 66%] Built target pose_estimation_2d2d
[ 75%] Linking CXX executable triangulation
[ 75%] Built target triangulation
make: *** [Makefile:91：all] 错误 2

查看CMakeLists.txt文件，eigen3的目录不对，修改

include_directories(
        ${OpenCV_INCLUDE_DIRS}
        ${G2O_INCLUDE_DIRS}
        ${Sophus_INCLUDE_DIRS}
        "/usr/local/include/eigen3"    # /usr/include/eigen3/原来的
)

 

 重新编译make -j4，报错

-- Configuring done (0.1s)
-- Generating done (0.0s)
-- Build files have been written to: /home/rosnoetic/catkin_ws/src/slambook2/ch7/build
[  8%] Building CXX object CMakeFiles/orb_cv.dir/orb_cv.cpp.o
[ 25%] Building CXX object CMakeFiles/pose_estimation_2d2d.dir/pose_estimation_2d2d.cpp.o
[ 25%] Building CXX object CMakeFiles/orb_self.dir/orb_self.cpp.o
[ 33%] Building CXX object CMakeFiles/triangulation.dir/triangulation.cpp.o
[ 41%] Linking CXX executable orb_cv
[ 41%] Built target orb_cv
[ 50%] Building CXX object CMakeFiles/pose_estimation_3d2d.dir/pose_estimation_3d2d.cpp.o
/home/rosnoetic/catkin_ws/src/slambook2/ch7/pose_estimation_3d2d.cpp:7:10: fatal error: g2o/core/base_vertex.h: 没有那个文件或目录
    7 | #include <g2o/core/base_vertex.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/pose_estimation_3d2d.dir/build.make:79：CMakeFiles/pose_estimation_3d2d.dir/pose_estimation_3d2d.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:226：CMakeFiles/pose_estimation_3d2d.dir/all] 错误 2
make[1]: *** 正在等待未完成的任务....
/home/rosnoetic/catkin_ws/src/slambook2/ch7/orb_self.cpp: In function ‘void BfMatch(const std::vector<std::vector<unsigned int> >&, const std::vector<std::vector<unsigned int> >&, std::vector<cv::DMatch>&)’:
/home/rosnoetic/catkin_ws/src/slambook2/ch7/orb_self.cpp:402:18: warning: narrowing conversion of ‘i1’ from ‘size_t’ {aka ‘long unsigned int’} to ‘int’ [-Wnarrowing]
  402 |     cv::DMatch m{i1, 0, 256};
      |                  ^~
[ 58%] Linking CXX executable pose_estimation_2d2d
[ 58%] Built target pose_estimation_2d2d
[ 66%] Linking CXX executable orb_self
[ 66%] Built target orb_self
[ 75%] Linking CXX executable triangulation
[ 75%] Built target triangulation
make: *** [Makefile:91：all] 错误 2

在CMakeLists.txt中明确添加g2o的路径

"/home/rosnoetic/catkin_ws/src/slambook2/3rdparty/g2o"

 重新编译make -j4，报错

-- Configuring done (0.1s)
-- Generating done (0.0s)
-- Build files have been written to: /home/rosnoetic/catkin_ws/src/slambook2/ch7/build
[ 16%] Built target orb_cv
[ 33%] Built target pose_estimation_2d2d
[ 50%] Built target orb_self
[ 66%] Built target triangulation
[ 75%] Building CXX object CMakeFiles/pose_estimation_3d3d.dir/pose_estimation_3d3d.cpp.o
[ 83%] Building CXX object CMakeFiles/pose_estimation_3d2d.dir/pose_estimation_3d2d.cpp.o
In file included from /home/rosnoetic/catkin_ws/src/slambook2/3rdparty/g2o/g2o/core/optimizable_graph.h:34,
                 from /home/rosnoetic/catkin_ws/src/slambook2/3rdparty/g2o/g2o/core/base_vertex.h:30,
                 from /home/rosnoetic/catkin_ws/src/slambook2/ch7/pose_estimation_3d2d.cpp:7:
/home/rosnoetic/catkin_ws/src/slambook2/3rdparty/g2o/g2o/core/openmp_mutex.h:30:10: fatal error: g2o/config.h: 没有那个文件或目录
   30 | #include "g2o/config.h"
      |          ^~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/pose_estimation_3d2d.dir/build.make:79：CMakeFiles/pose_estimation_3d2d.dir/pose_estimation_3d2d.cpp.o] 错误 1

没有config.h，查找g2o文件夹，显示在build文件下

 

复制config.h文件到g2o目录下

重新编译make -j4，报错，截取部分吧

根据提示，在pose_estimation_3d2d和pose_estimation_3d3d中

将  CV_LOAD_IMAGE_COLOR      更改为	cv::IMREAD_COLOR
将  CV_LOAD_IMAGE_UNCHANGED  更改为	cv::IMREAD_UNCHANGED

重新编译make -j4， 报错

[ 91%] Linking CXX executable pose_estimation_3d3d
/usr/bin/ld: 找不到 -lg2o_core
/usr/bin/ld: 找不到 -lg2o_stuff
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/pose_estimation_3d3d.dir/build.make:114：pose_estimation_3d3d] 错误 1
make[1]: *** [CMakeFiles/Makefile2:257：CMakeFiles/pose_estimation_3d3d.dir/all] 错误 2
make[1]: *** 正在等待未完成的任务....
[100%] Linking CXX executable pose_estimation_3d2d
/usr/bin/ld: 找不到 -lg2o_core
/usr/bin/ld: 找不到 -lg2o_stuff
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/pose_estimation_3d2d.dir/build.make:114：pose_estimation_3d2d] 错误 1
make[1]: *** [CMakeFiles/Makefile2:226：CMakeFiles/pose_estimation_3d2d.dir/all] 错误 2
make: *** [Makefile:91：all] 错误 2

 

重新修改CMakeLists.txt的pose_estimation_3d2d和pose_extimation_3d3d链接部分

add_executable(pose_estimation_3d2d pose_estimation_3d2d.cpp)   # 新改的
target_link_libraries(pose_estimation_3d2d
        /home/rosnoetic/catkin_ws/src/slambook2/3rdparty/g2o/lib/libg2o_core.so
        /home/rosnoetic/catkin_ws/src/slambook2/3rdparty/g2o/lib/libg2o_stuff.so
        ${OpenCV_LIBS})

add_executable(pose_estimation_3d3d pose_estimation_3d3d.cpp)
target_link_libraries(pose_estimation_3d3d
        /home/rosnoetic/catkin_ws/src/slambook2/3rdparty/g2o/lib/libg2o_core.so
        /home/rosnoetic/catkin_ws/src/slambook2/3rdparty/g2o/lib/libg2o_stuff.so
        ${OpenCV_LIBS})

 

编译成功

 

在ch7目录下终端输入

build/orb_cv 1.png 2.png

 得到结果

  

最终的CMakeLists.txt文件为：

cmake_minimum_required(VERSION 3.10)   # 新改的
project(vo1)

set(CMAKE_BUILD_TYPE "Release")
add_definitions("-DENABLE_SSE")
set(CMAKE_CXX_FLAGS "-std=c++14 -O3 ${SSE_FLAGS} -msse4")  # 新改的
list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)

find_package(OpenCV 4.5.5 QUIET)   # 新改的
find_package(G2O REQUIRED)
find_package(Sophus REQUIRED)

include_directories(
        ${OpenCV_INCLUDE_DIRS}
        ${G2O_INCLUDE_DIRS}
        ${Sophus_INCLUDE_DIRS}
        "/usr/local/include/eigen3"    # 原来的是/usr/include/eigen3/
        "/home/rosnoetic/catkin_ws/src/slambook2/3rdparty/g2o/" # 新加的g2o路径
)

add_executable(orb_cv orb_cv.cpp)
target_link_libraries(orb_cv ${OpenCV_LIBS})

add_executable(orb_self orb_self.cpp)
target_link_libraries(orb_self ${OpenCV_LIBS})

# add_executable( pose_estimation_2d2d pose_estimation_2d2d.cpp extra.cpp ) # use this if in OpenCV2 
add_executable(pose_estimation_2d2d pose_estimation_2d2d.cpp)
target_link_libraries(pose_estimation_2d2d ${OpenCV_LIBS})

# # add_executable( triangulation triangulation.cpp extra.cpp) # use this if in opencv2
add_executable(triangulation triangulation.cpp)
target_link_libraries(triangulation ${OpenCV_LIBS})

# 以下都是删除原来两条，新改的，根据自己的g2o_core和g2o_stuff目录来
add_executable(pose_estimation_3d2d pose_estimation_3d2d.cpp)  
target_link_libraries(pose_estimation_3d2d
        /home/rosnoetic/catkin_ws/src/slambook2/3rdparty/g2o/lib/libg2o_core.so
        /home/rosnoetic/catkin_ws/src/slambook2/3rdparty/g2o/lib/libg2o_stuff.so
        ${OpenCV_LIBS})

add_executable(pose_estimation_3d3d pose_estimation_3d3d.cpp)
target_link_libraries(pose_estimation_3d3d
        /home/rosnoetic/catkin_ws/src/slambook2/3rdparty/g2o/lib/libg2o_core.so
        /home/rosnoetic/catkin_ws/src/slambook2/3rdparty/g2o/lib/libg2o_stuff.so
        ${OpenCV_LIBS})

 

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