Question

我试图用SLAM弄脏手，我开始使用ORB-SLAM2库。

我已下载了TUM序列，并希望使用ROS。所以我按照这个page执行了步骤。

在第7步，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，并且有一个名为config.h的文件。

那么为什么我仍然会收到错误？

Answer 1

CMakeLists.txt中的/home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/

尝试添加

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

到include_directories() line 44的列表（如果你没有更改文件，它应该在那一行）

添加此行告诉cmake在哪里找到g2o/config.h。

Answer 2

根据g2o/config.h中缺少jacobian_workspace.h的信息，但是当我查看文件时，却未在第36行找到include。我是否遗漏了某些内容，或者您改变什么？

使用ORB-SLAM2时出错

2 个答案: