使用 ORB-SLAM2 时出错

Question

我尝试着手研究 SLAM，然后我开始使用 ORB-SLAM2 库。

我已经下载了一个 TUM 序列并想为它使用 ROS。所以我按照 page.

的步骤操作

在第 7 步的第 2 部分中，当我运行 ./build_ros.sh 时，出现以下错误：

In file included from /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/../../../Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41:0,
                 from /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/../../../Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/../../../Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/../../../include/LoopClosing.h:34,
                 from /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/../../../include/LocalMapping.h:26,
                 from /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/../../../include/Tracking.h:31,
                 from /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/../../../include/System.h:29,
                 from /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.h:29,
                 from /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.cc:21:
/home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/../../../Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:36:24: fatal error: g2o/config.h: No such file or directory
compilation terminated.
CMakeFiles/MonoAR.dir/build.make:198: recipe for target 'CMakeFiles/MonoAR.dir/src/AR/ViewerAR.cc.o' failed
make[2]: *** [CMakeFiles/MonoAR.dir/src/AR/ViewerAR.cc.o] Error 1
make[2]: *** Waiting for unfinished jobs....

我去检查了 g2o 文件夹，有一个名为 config.h 的文件。

那为什么我仍然收到错误消息？

Answer 1

从信息来看，jacobian_workspace.h中缺少g2o/config.h，但是当我查看文件时，并没有在第36行中找到include。我是否遗漏了什么，或者你改变了什么？

Answer 2

在CMakeLists.txt中/home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/

尝试添加

${PROJECT_SOURCE_DIR}/../../../Thirdparty

到 include_directories() 的列表 line 44（如果您没有更改文件，它应该在该行）

添加这一行告诉 cmake 在哪里可以找到 g2o/config.h.

使用 ORB-SLAM2 时出错

Error with using ORB-SLAM2

ubuntu-16.04

slam