使用ORB-SLAM2时出错
使用ORB-SLAM2时出错
提问于 2017-07-19 20:36:53
我试图用SLAM弄脏我的手，于是我开始使用ORB-SLAM2库。
我已经下载了一个TUM序列，并希望使用ROS。所以我按照这个page的步骤来做。
在步骤7，第2部分中，当我运行./build_ros.sh时，我得到以下错误：
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....我去查看了g2o文件夹，发现有一个名为config.h的文件。
那么为什么我仍然得到这个错误呢？
回答 2
Stack Overflow用户
回答已采纳
发布于 2017-07-28 10:56:23
在/home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/的CMakeLists.txt中
尝试添加
${PROJECT_SOURCE_DIR}/../../../Thirdparty
添加到line 44上的include_directories()列表(如果您没有更改文件，它应该在该行)
添加此行告诉cmake在哪里可以找到g2o/config.h。
Stack Overflow用户
发布于 2017-07-26 19:43:28
从信息来看，jacobian_workspace.h中缺少g2o/config.h，但当我查看文件时，在第36行没有找到include。是我错过了什么，还是你改变了什么？
页面原文内容由Stack Overflow提供。腾讯云小微IT领域专用引擎提供翻译支持
原文链接：
https://stackoverflow.com/questions/45190840
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