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electech6/ORB_SLAM3_detailed_comments: Detailed comments for ORB-SLAM3](https://github.com/electech6/ORB_SLAM3_detailed_comments/blob/master/euroc_examples.sh) + +## 一、Linux环境下常见问题解决方案 + +### 1.1 error: ‘slots_reference’ was not declared in this scope + +**解决方法:** + +[https://blog.csdn.net/BigHandsome2020/article/details/123458612](https://blog.csdn.net/BigHandsome2020/article/details/123458612) + +**不是pangolin的问题!!!** + + **sed -i 's/++11/++14/g' CMakeLists.txt** + +**问题2: realsense2** + +![Untitled](ORB-SLAM3-Image/Untitled.png) + +**解决方法:** + +[https://blog.csdn.net/weixin_43901418/article/details/121475001](https://blog.csdn.net/weixin_43901418/article/details/121475001) + +```shell +sudo apt-key adv --keyserver [keyserver.ubuntu.com](http://keyserver.ubuntu.com/) --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE +sudo add-apt-repository "deb [https://librealsense.intel.com/Debian/apt-repo](https://librealsense.intel.com/Debian/apt-repo) $(lsb_release -cs) main" -u +sudo apt-get install librealsense2-dkms +sudo apt-get install librealsense2-utils +sudo apt-get install librealsense2-dev +``` + +**问题3:在运行build.sh 时最后一步make -j4 构建panglin失败** + +```shell +cd Pangolin +mkdir build +cd build +cmake .. +cmake --build . +``` + +​ [https://github.com/raulmur/ORB_SLAM2/issues/22](https://github.com/raulmur/ORB_SLAM2/issues/22) + +​ 需要重新安装panglin,版本如果比较新,则需要切换到C++14 + +### 1.4 没有可视化界面只有轨迹结果 + +​ Monocular程序运行Euroc数据集或者其他官方数据集的时候,运行结果**只有轨迹结果,但没有可视化界面**。 + +```shell +./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml +``` + +​ 这是因为原始灰度图像的输出是需要通过代码设置开启的,mono_euroc.cc修改: + +```c++ +// 这里的第三个参数为bool类型,用于控制是否显示摄像头的灰度图像 +ORB_SLAM3::System SLAM(argv[1], argv[2], ORB_SLAM3::System::MONOCULAR, false); +// 如果需要显示摄像头的内容,设置为true即可 +ORB_SLAM3::System SLAM(argv[1], argv[2], ORB_SLAM3::System::MONOCULAR, true); +``` + +### 1.5 c++: fatal error: Killed signal terminated program cc1plus + +​ 内存爆了,用 make -j 不要给太多任务 + diff --git a/Docs/Changelog.md b/Docs/更新日志.md similarity index 100% rename from Docs/Changelog.md rename to Docs/更新日志.md