【ch5报错解决】

首先需要安装opencv-dev(后缀代表C++版)，但因之前安装过ROS，便已自带安装opencv，故略opencv安装方法。

①fmp链接报错

 解决方法：

#rgbd/CMakeLists.txtfind_package(Sophus REQUIRED)
include_directories(${Sophus_INCLUDE_DIRS})find_package(Pangolin REQUIRED)#1此处添加
find_package(fmt REQUIRED)add_executable(joinMap joinMap.cpp)#2此处修改为(增添fmt::fmt)
target_link_libraries(joinMap ${OpenCV_LIBS} ${Pangolin_LIBRARIES} fmt::fmt)

②运行imageBasics

③路径报错

 解决

#string image_file = "./distorted.png";   // 原代码所用路径
string image_file = "/home/cmx/slambook2/ch5/imageBasics/distorted.png";   // 修改为绝对路径，勿用相对路径

string left_file = "/home/cmx/slambook2/ch5/stereo/left.png";
string right_file = "/home/cmx/slambook2/ch5/stereo/right.png";

④运行jointMap.cpp后电脑反应慢：若要进行科研还是要安装双系统，只是学习可用虚拟机