一、运行build.sh能够产生可执行文件遇到的问题

1.由于opencv版本高带来的问题

这些问题怎么定位出现在哪些文件中，你通过命令行，运行下面三句话，然后看报的错的文件

cd ORB_SLAM2
chmod +x build.sh
./build.sh

问题1：找不到opencv/cv.h

由于我用的是cv4，代码用的cv3，而cv4没有opencv/cv.h，网上查了查用其他的库替代

替代方式：

如果还有类似的错就根据提示去查找问题的地方，然后进行修改。有两处需要多次修改的是当出现类似

问题2：出现类似error: ‘cvSolve’ was not declared in this scope

此时就在出错的文件里前面加上包含头文件：

注意这个错误出现过好多次，需要修改的地方比较多

问题3：未定义标识符“CV_BGR2GRAY“

错误原因：在新版本中，CV_BGR2GRAY被COLOR_BGR2GRAY替换。只需将CV改成COLOR就行。

在新版本中，CV基本都被COLOR替换。

问题4：error: ‘CV_LOAD_IMAGE_UNCHANGED’ was not declared in this scope

解决方案：CV_LOAD_IMAGE_UNCHANGED 改为 cv::IMREAD_UNCHANGED

2.c++ error: ‘decay_t’ is not a member of ‘std’

大概是c++版本的问题，在主目录下的CMakeLIists.txt上修改支持C++14标准

3.ORB_SLAM安装问题error: ‘std::chrono::monotonic_clock’ has not been declared

4.报错“没有规则可制作目标” 以及报opencv>2.4.3找不到的问题

修改CMakeList.txt

注意不只是修改一部分，还有那个thirdparty里面的CMakeList.txt也需要修改！！

我遇到的大体上是这些错误，遇到其他错误不要慌，找找总会有解决方法！

二、在vscode上配置第三方库

1. 首先是在c_cpp_properties.json增加库

{"configurations": [{"name": "Win32","includePath": ["${workspaceFolder}/**","/usr/local/include","/usr/include/eigen3","/usr/local/include/opencv4","/home/gallagher/cpp_all/slam/ORB_SLAM2/include","/usr/local/include/pangolin"],"defines": ["_DEBUG","UNICODE","_UNICODE"],"windowsSdkVersion": "10.0.18362.0","compilerPath": "/usr/bin/g++-11","cStandard": "c11","cppStandard": "c++17","intelliSenseMode": "msvc-x64"}],"version": 4
}

运行任何一个Example里面的cc文件就会生成tasks.json和launch.json，其中tasks.json的配置如下（主要是-L和-I以及后面的连接库）：

{"tasks": [{"type": "cppbuild","label": "C/C++: g++ 生成活动文件","command": "/usr/bin/g++","args": ["-fdiagnostics-color=always","-g","${file}","-o","${fileDirname}/${fileBasenameNoExtension}","-L","/usr/local/lib","-L","/usr/lib","-L","/home/gallagher/cpp_all/slam/ORB_SLAM2/lib","-I","/usr/include/eigen3","-I","${workspaceFolder}/","-I","/usr/local/include/","-I","/usr/local/include/opencv4/","-I","/usr/local/include/sophus/","-I","/usr/include/suitesparse","-I","/usr/local/include/pangolin/","-I","/home/gallagher/cpp_all/slam/ORB_SLAM2/include","/usr/local/lib/libpangolin.so","/usr/local/lib/libopencv_*","/usr/local/lib/libgstgl-1.0.so.0","/usr/local/lib/libSophus.so","/home/gallagher/cpp_all/slam/ORB_SLAM2/lib/libORB_SLAM2.so"],"options": {"cwd": "${fileDirname}"},"problemMatcher": ["$gcc"],"group": {"kind": "build","isDefault": true},"detail": "调试器生成的任务。"},{"type": "cppbuild","label": "C/C++: g++-11 生成活动文件","command": "/usr/bin/g++-11","args": ["-fdiagnostics-color=always","-g","${file}","-o","${fileDirname}/${fileBasenameNoExtension}"],"options": {"cwd": "${fileDirname}"},"problemMatcher": ["$gcc"],"group": "build","detail": "调试器生成的任务。"}],"version": "2.0.0"
}

三、点击调试按钮遇到的问题

1.由于pangolin版本带来的问题

这个库版本太高会带来下图中类似的问题，一般安装这个版本会带来这个问题：

GitHub - stevenlovegrove/Pangolin: Pangolin is a lightweight portable rapid development library for managing OpenGL display / interaction and abstracting video input.