slam14讲5.4.2程序修改

原本的程序我的电脑上编译出现了各种各样的问题。

一、Sophus库

参照我另一篇博客进行修改：

https://blog.csdn.net/weixin_44986556/article/details/109154373

二、OpenCV库

修改完Sophus之后，出现了大量关于OpenCV库的问题，诸如：

undefined reference to `cv::imread(cv::String const&, int)'

因为同样使用了OpenCV库，所以我找来了7.2.2的CMakeLists.txt文件仔细对比，将5.4.2原本的CMakeLists.txt文件修改成如下内容：

################################################
cmake_minimum_required(VERSION 2.8)
project(vo1)

set(CMAKE_BUILD_TYPE "Release")
add_definitions("-DENABLE_SSE")
set(CMAKE_CXX_FLAGS "-std=c++11 -O2 ${SSE_FLAGS} -msse4")
list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
################################################
add_executable(joinMap joinMap.cpp)

find_package(Sophus REQUIRED)
find_package(OpenCV 3 REQUIRED)
find_package(Pangolin REQUIRED)

target_link_libraries( joinMap ${OpenCV_LIBS})
target_link_libraries( joinMap ${Sophus_LIBRARIES} )
target_link_libraries( joinMap ${Pangolin_LIBRARIES})

include_directories(
        ${OpenCV_INCLUDE_DIRS}
        ${Pangolin_LIBRARIES}
        ${Sophus_INCLUDE_DIRS}
        "/usr/include/eigen3/"
)

编译顺利通过～