orbslam2 + opencv2 中的bug

本文解决了一个关于OpenCV版本导致的编译错误问题,通过调整CMakeLists.txt文件中的OpenCV版本查找顺序,成功解决了undefined reference to symbol的问题。

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bug是:

/usr/bin/ld: CMakeFiles/stereo_euroc.dir/Examples/Stereo/stereo_euroc.cc.o: undefined reference to symbol '_ZN2cv11FileStorageC1ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEiS8_'
/usr/local/lib/libopencv_core.so.2.4: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/stereo_euroc.dir/build.make:162: recipe for target '../Examples/Stereo/stereo_euroc' failed
make[2]: *** [../Examples/Stereo/stereo_euroc] Error 1
CMakeFiles/Makefile2:289: recipe for target 'CMakeFiles/stereo_euroc.dir/all' failed
make[1]: *** [CMakeFiles/stereo_euroc.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
CMakeFiles/mono_kitti.dir/Examples/Monocular/mono_kitti.cc.o:在函数‘main’中:
mono_kitti.cc:(.text.startup+0x336):对‘cv::imread(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)’未定义的引用
../lib/libORB_SLAM2.so:对‘cv::imshow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, cv::_InputArray const&)’未定义的引用
../lib/libORB_SLAM2.so:对‘cv::namedWindow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)’未定义的引用
collect2: error: ld returned 1 exit status
CMakeFiles/mono_kitti.dir/build.make:162: recipe for target '../Examples/Monocular/mono_kitti' failed
make[2]: *** [../Examples/Monocular/mono_kitti] Error 1
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/mono_kitti.dir/all' failed
make[1]: *** [CMakeFiles/mono_kitti.dir/all] Error 2
CMakeFiles/stereo_kitti.dir/Examples/Stereo/stereo_kitti.cc.o:在函数‘main’中:
stereo_kitti.cc:(.text.startup+0x3ee):对‘cv::imread(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)’未定义的引用
stereo_kitti.cc:(.text.startup+0x583):对‘cv::imread(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)’未定义的引用
../lib/libORB_SLAM2.so:对‘cv::imshow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, cv::_InputArray const&)’未定义的引用
../lib/libORB_SLAM2.so:对‘cv::namedWindow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)’未定义的引用
collect2: error: ld returned 1 exit status
CMakeFiles/stereo_kitti.dir/build.make:162: recipe for target '../Examples/Stereo/stereo_kitti' failed
make[2]: *** [../Examples/Stereo/stereo_kitti] Error 1
CMakeFiles/Makefile2:252: recipe for target 'CMakeFiles/stereo_kitti.dir/all' failed
make[1]: *** [CMakeFiles/stereo_kitti.dir/all] Error 2
CMakeFiles/mono_euroc.dir/Examples/Monocular/mono_euroc.cc.o:在函数‘main’中:
mono_euroc.cc:(.text.startup+0x366):对‘cv::imread(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)’未定义的引用
../lib/libORB_SLAM2.so:对‘cv::imshow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, cv::_InputArray const&)’未定义的引用
../lib/libORB_SLAM2.so:对‘cv::namedWindow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)’未定义的引用
collect2: error: ld returned 1 exit status
CMakeFiles/mono_euroc.dir/build.make:162: recipe for target '../Examples/Monocular/mono_euroc' failed
make[2]: *** [../Examples/Monocular/mono_euroc] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/mono_euroc.dir/all' failed
make[1]: *** [CMakeFiles/mono_euroc.dir/all] Error 2
CMakeFiles/mono_tum.dir/Examples/Monocular/mono_tum.cc.o:在函数‘main’中:
mono_tum.cc:(.text.startup+0x504):对‘cv::imread(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)’未定义的引用
../lib/libORB_SLAM2.so:对‘cv::imshow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, cv::_InputArray const&)’未定义的引用
../lib/libORB_SLAM2.so:对‘cv::namedWindow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)’未定义的引用
collect2: error: ld returned 1 exit status
CMakeFiles/rgbd_tum.dir/Examples/RGB-D/rgbd_tum.cc.o:在函数‘main’中:
rgbd_tum.cc:(.text.startup+0x5a4):对‘cv::imread(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)’未定义的引用
rgbd_tum.cc:(.text.startup+0x8d7):对‘cv::imread(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)’未定义的引用
../lib/libORB_SLAM2.so:对‘cv::imshow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, cv::_InputArray const&)’未定义的引用
../lib/libORB_SLAM2.so:对‘cv::namedWindow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)’未�CMakeFiles/mono_tum.dir/build.make:162: recipe for target '../Examples/Monocular/mono_tum' failed
����make[2]: *** [../Examples/Monocular/mono_tum] Error 1
�的引用
collect2: error: ld returned 1 exit status
CMakeFiles/Makefile2:141: recipe for target 'CMakeFiles/mono_tum.dir/all' failed
make[1]: *** [CMakeFiles/mono_tum.dir/all] Error 2
CMakeFiles/rgbd_tum.dir/build.make:162: recipe for target '../Examples/RGB-D/rgbd_tum' failed
make[2]: *** [../Examples/RGB-D/rgbd_tum] Error 1
CMakeFiles/Makefile2:215: recipe for target 'CMakeFiles/rgbd_tum.dir/all' failed
make[1]: *** [CMakeFiles/rgbd_tum.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

 

为了这个问题查了一个下午,发现不过是opencv版本问题:

在ORBSLAM2中的CMakeLists.txt中,

find_package(OpenCV 2.4.9 QUIET)
if(NOT OpenCV_FOUND)
   find_package(OpenCV 3.4.1 QUIET)
   if(NOT OpenCV_FOUND)
      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
   endif()
endif()

不明白原理是什么,但是最好把你电脑中的opencv版本放在第一个find_package中,我ubuntu中的opencv版本为2.4.9;

因此调换了顺序,即成功编译了:

[ 65%] Building CXX object CMakeFiles/mono_kitti.dir/Examples/Monocular/mono_kitti.cc.o
[ 68%] Building CXX object CMakeFiles/mono_tum.dir/Examples/Monocular/mono_tum.cc.o
[ 71%] Building CXX object CMakeFiles/rgbd_tum.dir/Examples/RGB-D/rgbd_tum.cc.o
[ 75%] Building CXX object CMakeFiles/mono_euroc.dir/Examples/Monocular/mono_euroc.cc.o
[ 78%] Building CXX object CMakeFiles/stereo_euroc.dir/Examples/Stereo/stereo_euroc.cc.o
[ 81%] Building CXX object CMakeFiles/stereo_kitti.dir/Examples/Stereo/stereo_kitti.cc.o
[ 84%] Linking CXX executable ../Examples/RGB-D/rgbd_tum
[ 87%] Linking CXX executable ../Examples/Stereo/stereo_euroc
[ 93%] Linking CXX executable ../Examples/Stereo/stereo_kitti
[ 93%] Linking CXX executable ../Examples/Monocular/mono_tum
[ 96%] Linking CXX executable ../Examples/Monocular/mono_kitti
[100%] Linking CXX executable ../Examples/Monocular/mono_euroc
[100%] Built target stereo_euroc
[100%] Built target rgbd_tum
[100%] Built target mono_kitti
[100%] Built target mono_tum
[100%] Built target mono_euroc
[100%] Built target stereo_kitti

 

你想学习 ORB-SLAM2,是一个基于特征点的稀疏直接法视觉 SLAM 系统。这个系统能够通过摄像头捕捉到的图像来构建三维地图并同时估计相机的运动轨迹。要学习 ORB-SLAM2,你可以按照以下步骤进行: 1. 了解 SLAM:首先,你需要了解什么是视觉 SLAM,包括它在机器人、增强现实和自动驾驶等领域中的应用。你可以阅读相关的论文或教材来掌握 SLAM 的基本概念。 2. 学习 ORB 特征点描述符:ORB-SLAM2 使用 ORB 特征点描述符来提取和匹配图像特征。你可以学习 ORB 特征点描述符的原理和实现方法,并了解特征点在 SLAM 中的作用。 3. 下载并阅读源代码:ORB-SLAM2 是开源的,你可以在其 GitHub 上找到代码和文档。下载代码后,阅读文档以了解系统的结构和使用方法。 4. 安装依赖库:ORB-SLAM2 使用了一些第三方库,如 OpenCV 和 Eigen。确保你已经正确安装和配置了这些库,并按照文档中的指导完成编译和配置。 5. 运行示例程序:ORB-SLAM2 附带了一些示例程序,你可以用它们来运行系统并观察其行为。首先,你可以尝试使用它们提供的演示数据集,以便更好地理解系统的工作原理。 6. 实践与调试:一旦你对系统有了基本的了解,你可以尝试将 ORB-SLAM2 应用到自己的数据集或实际场景中。在此过程中,你可能会遇到一些问题或 bug,需要进行调试和优化。 7. 学习进阶内容:一旦你熟悉了 ORB-SLAM2 的基本用法,你可以进一步学习其内部原理和算法细节。这将有助于你更好地理解系统,并能够针对特定需求进行定制和优化。 记住,学习 ORB-SLAM2 需要一定的数学和计算机视觉基础。如果你是初学者,建议先学习相关的数学和计算机视觉知识,然后再深入研究 ORB-SLAM2
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