[人工智能]ubuntu20编译运行orb-slam3踩坑

orb3-编译网上教程很多，写一下自己安装编译过程中踩的坑，一个半星期，终于可以跑demo了。

1.出现如下问题，或者在Build target g2o时 卡住。

1. make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:375：CMakeFiles/ORB_SLAM3.dir/src/MLPnPsolver.cpp.o] 错误 1

2. make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:76：CMakeFiles/ORB_SLAM3.dir/src/Tracking.cc.o] 错误 1

3. make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:245：CMakeFiles/ORB_SLAM3.dir/src/Frame.cc.o] 错误 1

4. make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:102：CMakeFiles/ORB_SLAM3.dir/src/LoopClosing.cc.o] 错误 1

5. make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:323：CMakeFiles/ORB_SLAM3.dir/src/G2oTypes.cc.o] 错误 1

6. make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:232：CMakeFiles/ORB_SLAM3.dir/src/Optimizer.cc.o] 错误 1

7. make[1]: *** [CMakeFiles/Makefile2:390：CMakeFiles/ORB_SLAM3.dir/all] 错误 2

8. make: *** [Makefile:84：all] 错误 2

9. make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:375：CMakeFiles/ORB_SLAM3.dir/src/MLPnPsolver.cpp.o] 错误 1
   
   make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:76：CMakeFiles/ORB_SLAM3.dir/src/Tracking.cc.o] 错误 1
   
   make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:245：CMakeFiles/ORB_SLAM3.dir/src/Frame.cc.o] 错误 1
   
   make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:102：CMakeFiles/ORB_SLAM3.dir/src/LoopClosing.cc.o] 错误 1
   
   make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:323：CMakeFiles/ORB_SLAM3.dir/src/G2oTypes.cc.o] 错误 1
   
   make[2]: *** [CMakeFiles/ORB_SLAM3.dir/build.make:232：CMakeFiles/ORB_SLAM3.dir/src/Optimizer.cc.o] 错误 1
   
   make[1]: *** [CMakeFiles/Makefile2:390：CMakeFiles/ORB_SLAM3.dir/all] 错误 2
   
   make: *** [Makefile:84：all] 错误 2

   解决方法： orb-slam3/CMakeLists.xt中添加 set(CMAKE_CXX_STANDARD 14)

2：Package opencv was not found in the pkg-config search path

解决方法：

cd /usr/local/lib
sudo mkdir pkgconfig
cd pkgconfig
sudo touch opencv.pc
sudo gedit opencv.pc

然后复制：

prefix=/usr/local
exec_prefix=${prefix}
includedir=${prefix}/include
libdir=${exec_prefix}/lib

Name: opencv
Description: The opencv library
Version:4.0.1
Cflags: -I${includedir}/opencv4
Libs: -L${libdir} -lopencv_shape -lopencv_stitching -lopencv_objdetect -lopencv_superres -lopencv_videostab -lopencv_calib3d -lopencv_features2d -lopencv_highgui -lopencv_videoio -lopencv_imgcodecs -lopencv_video -lopencv_photo -lopencv_ml -lopencv_imgproc -lopencv_flann ?-lopencv_core
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