ubuntu 18.04, 编译运行ORB_SLAM3, 遇到错误Pangolin X11: Unable to retrieve framebuffer options。

hankfu

发布于 2021-12-30 18:42:03

2K0

发布于 2021-12-30 18:42:03

文章被收录于专栏：hank

当前问题

遇到错误Pangolin X11: Unable to retrieve framebuffer options。操作系统是ubuntu 18.04，物理机，不是虚拟机.

按报错Pangolin X11: Unable to retrieve framebuffer options ,修改components/pango_windowing/src/display_x11.cpp，把其中的“GLX_DOUBLEBUFFER , glx_doublebuffer ? True : False,”，改为“GLX_DOUBLEBUFFER , glx_doublebuffer ? False : False,”。重新编译，安装，还是不行。对应上面的文章，即使使用2016年发布的Pangolin v0.5, display_x11.cpp的目录不一样，行号也不一样。

测试Pangolin v0.6，也遇到一样的错误。

编译ORB_SLAM3

参考文档

ORB_SLAM3 安装、编译及测试

https://blog.csdn.net/weixin_43192983/article/details/119149611

安装依赖包

sudo apt-get install -y doxygen libgl1-mesa-dev libglew-dev cmake libboost-all-dev

编译ORB_SLAM3遇到的错误

下面的错误是由于没有安装libboost-all-dev造成的。

/proj/hankf/slam/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:38:0,
                 from /proj/hankf/slam/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /proj/hankf/slam/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:37,
                 from /proj/hankf/slam/ORB_SLAM3/include/Converter.h:26,
                 from /proj/hankf/slam/ORB_SLAM3/include/Frame.h:33,
                 from /proj/hankf/slam/ORB_SLAM3/include/KeyFrame.h:28,
                 from /proj/hankf/slam/ORB_SLAM3/include/MapPoint.h:23,
                 from /proj/hankf/slam/ORB_SLAM3/include/Map.h:23,
                 from /proj/hankf/slam/ORB_SLAM3/include/Optimizer.h:23,
                 from /proj/hankf/slam/ORB_SLAM3/src/Optimizer.cc:20:
/proj/hankf/slam/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/hyper_graph.h:148:116: warning: \u2018VG2\u2019 may be used uninitialized in this function [-Wmaybe-uninitialized]
           void setVertex(size_t i, Vertex* v) { assert(i < _vertices.size() && "index out of bounds"); _vertices[i]=v;}
/proj/hankf/slam/ORB_SLAM3/src/Optimizer.cc:497:42: note: \u2018VG2\u2019 was declared here
                 g2o::HyperGraph::Vertex* VG2;
                                          ^~~
/proj/hankf/slam/ORB_SLAM3/src/Optimizer.cc:462:53: warning: \u2018pIncKF\u2019 may be used uninitialized in this function [-Wmaybe-uninitialized]
         VertexAccBias* VA = new VertexAccBias(pIncKF);
                                                     ^
[ 55%] Linking CXX shared library ../lib/libORB_SLAM3.so
/usr/bin/ld: cannot find -lboost_serialization
collect2: error: ld returned 1 exit status
CMakeFiles/ORB_SLAM3.dir/build.make:832: recipe for target '../lib/libORB_SLAM3.so' failed
make[2]: *** [../lib/libORB_SLAM3.so] Error 1
CMakeFiles/Makefile2:548: recipe for target 'CMakeFiles/ORB_SLAM3.dir/all' failed
make[1]: *** [CMakeFiles/ORB_SLAM3.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

编译Pangolin

/proj/hankf/slam/pangolin2/Pangolin$ ls
build  cmake  CMakeLists.txt  components  examples  LICENCE  package.xml  README.md  scripts  tools
/proj/hankf/slam/pangolin2/Pangolin$ git tag -l
v0.3
v0.4
v0.5
v0.6
/proj/hankf/slam/pangolin2/Pangolin$ git checkout -b v0.5
Switched to a new branch 'v0.5'
/proj/hankf/slam/pangolin2/Pangolin$ git branch
  master
  v0.3
  v0.4
* v0.5
/proj/hankf/slam/pangolin2/Pangolin$ git branch -m v0.5 v0.5.hank.00
/proj/hankf/slam/pangolin2/Pangolin$ git branch v0.5.hank.01
/proj/hankf/slam/pangolin2/Pangolin$ git branch
  master
  v0.3
  v0.4
* v0.5.hank.00
  v0.5.hank.01
/proj/hankf/slam/pangolin2/Pangolin$ git checkout v0.5.hank.01
Switched to branch 'v0.5.hank.01'
/proj/hankf/slam/pangolin2/Pangolin$  gedit ./components/pango_windowing/src/display_x11.cpp  & 
[1] 4853

(gedit:4853): Gtk-WARNING **: 10:24:24.869: Calling org.xfce.Session.Manager.Inhibit failed: GDBus.Error:org.freedesktop.DBus.Error.UnknownMethod: Method "Inhibit" with signature "susu" on interface "org.xfce.Session.Manager" doesn't exist
[1]+  Done                    gedit ./components/pango_windowing/src/display_x11.cpp

/proj/hankf/slam/pangolin2/Pangolin$ ls 
build  cmake  CMakeLists.txt  components  examples  LICENCE  package.xml  README.md  scripts  tools
/proj/hankf/slam/pangolin2/Pangolin$ cd build/
/proj/hankf/slam/pangolin2/Pangolin/build$ ls -l
total 0
/proj/hankf/slam/pangolin2/Pangolin/build$ cmake ../
-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 7.5.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Setting build type to 'Release' as none was specified.
CMake Warning at CMakeLists.txt:75 (message):
  Building Tests requested, but Catch2 library not found.

-- libpng Found and Enabled
-- libjpeg Found and Enabled
-- libtiff Found and Enabled
-- libopenexr Found and Enabled
-- libdc1394 Found and Enabled
-- V4L Found and Enabled
-- Performing Test HAVE_FFMPEG_MAX_ANALYZE_DURATION
-- Performing Test HAVE_FFMPEG_MAX_ANALYZE_DURATION - Success
-- Performing Test HAVE_FFMPEG_AVFORMAT_ALLOC_OUTPUT_CONTEXT2
-- Performing Test HAVE_FFMPEG_AVFORMAT_ALLOC_OUTPUT_CONTEXT2 - Success
-- Performing Test HAVE_FFMPEG_AVPIXELFORMAT
-- Performing Test HAVE_FFMPEG_AVPIXELFORMAT - Success
-- ffmpeg Found and Enabled
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1") 
-- Found WAYLAND_CLIENT: /usr/lib/x86_64-linux-gnu/libwayland-client.so  
-- Found WAYLAND_SERVER: /usr/lib/x86_64-linux-gnu/libwayland-server.so  
-- Found WAYLAND_EGL: /usr/lib/x86_64-linux-gnu/libwayland-egl.so  
-- Found WAYLAND_CURSOR: /usr/lib/x86_64-linux-gnu/libwayland-cursor.so  
-- Found WAYLAND: /usr/lib/x86_64-linux-gnu/libwayland-client.so;/usr/lib/x86_64-linux-gnu/libwayland-server.so;/usr/lib/x86_64-linux-gnu/libwayland-egl.so;/usr/lib/x86_64-linux-gnu/libwayland-cursor.so  
-- Checking for module 'xkbcommon'
--   Found xkbcommon, version 0.8.2
-- Configuring done
WARNING: Target "pango_python" has EXCLUDE_FROM_ALL set and will not be built by default but an install rule has been provided for it.  CMake does not define behavior for this case.
-- Generating done
-- Build files have been written to: /proj/hankf/hankf/slam/pangolin2/Pangolin/build

/proj/hankf/slam/pangolin2/Pangolin/build$ make -j
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[  3%] Building CXX object CMakeFiles/pango_core.dir/components/pango_core/src/file_utils.cpp.o
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[ 78%] Building CXX object examples/HelloPangolin/CMakeFiles/HelloPangolin.dir/main.cpp.o
[ 78%] Building CXX object examples/HelloPangolinOffscreen/CMakeFiles/HelloPangolinOffscreen.dir/main.cpp.o
[ 79%] Linking CXX executable tutorial_3_gl_intro_classic_triangle_vbo_shader
[ 79%] Linking CXX executable tutorial_2_gl_intro_classic_triangle_vbo
[ 79%] Built target tutorial_3_gl_intro_classic_triangle_vbo_shader
[ 79%] Built target tutorial_2_gl_intro_classic_triangle_vbo
[ 80%] Linking CXX executable tutorial_1_gl_intro_classic_triangle
[ 81%] Linking CXX executable tutorial_2_gl_intro_pango_triangle_vbo
[ 81%] Linking CXX executable tutorial_4_gl_intro_viewport
[ 81%] Built target tutorial_2_gl_intro_pango_triangle_vbo
[ 81%] Built target tutorial_1_gl_intro_classic_triangle
[ 81%] Built target tutorial_4_gl_intro_viewport
[ 81%] Linking CXX executable tutorial_1_gl_intro_pango_triangle
[ 82%] Linking CXX executable SimpleVideo
[ 83%] Linking CXX executable tutorial_5_gl_intro_view_transforms
[ 84%] Linking CXX executable HelloPangolin
[ 85%] Linking CXX executable SimpleDisplayImage
[ 85%] Built target tutorial_5_gl_intro_view_transforms
[ 85%] Built target tutorial_1_gl_intro_pango_triangle
[ 85%] Built target SimpleVideo
[ 85%] Built target HelloPangolin
[ 85%] Built target SimpleDisplayImage
[ 86%] Linking CXX executable SimpleMultiDisplay
[ 87%] Linking CXX executable SimpleRecord
[ 87%] Built target SimpleMultiDisplay
[ 87%] Built target SimpleRecord
[ 88%] Linking CXX executable HelloPangolinOffscreen
[ 88%] Built target HelloPangolinOffscreen
[ 89%] Linking CXX executable tutorial_3_gl_intro_pango_triangle_vbo_shader
[ 90%] Linking CXX executable SimpleScene
[ 90%] Built target tutorial_3_gl_intro_pango_triangle_vbo_shader
[ 90%] Built target SimpleScene
[ 90%] Linking CXX shared library libpango_plot.so
[ 90%] Built target pango_plot
Scanning dependencies of target SimplePlot
[ 91%] Building CXX object examples/SimplePlot/CMakeFiles/SimplePlot.dir/main.cpp.o
[ 92%] Linking CXX shared library libpango_tools.so
[ 92%] Built target pango_tools
Scanning dependencies of target VideoViewer
Scanning dependencies of target VideoConvert
Scanning dependencies of target VideoJsonPrint
Scanning dependencies of target VideoJsonTransform
Scanning dependencies of target Plotter
Scanning dependencies of target ModelViewer
[ 93%] Building CXX object tools/Plotter/CMakeFiles/Plotter.dir/main.cpp.o
[ 93%] Building CXX object tools/VideoViewer/CMakeFiles/VideoViewer.dir/main.cpp.o
[ 94%] Building CXX object tools/VideoConvert/CMakeFiles/VideoConvert.dir/main.cpp.o
[ 95%] Building CXX object tools/VideoJson/CMakeFiles/VideoJsonTransform.dir/main-transform.cpp.o
[ 96%] Building CXX object tools/VideoJson/CMakeFiles/VideoJsonPrint.dir/main-print.cpp.o
[ 97%] Building CXX object tools/ModelViewer/CMakeFiles/ModelViewer.dir/main.cpp.o
[ 97%] Linking CXX executable SimplePlot
[ 98%] Linking CXX executable SimpleDisplay
[ 98%] Built target SimplePlot
[ 98%] Built target SimpleDisplay
[ 98%] Linking CXX executable Plotter
[ 98%] Built target Plotter
[ 98%] Linking CXX executable VideoJsonPrint
[ 98%] Built target VideoJsonPrint
[ 99%] Linking CXX executable VideoViewer
[100%] Linking CXX executable VideoJsonTransform
[100%] Built target VideoViewer
[100%] Built target VideoJsonTransform
[100%] Linking CXX executable VideoConvert
[100%] Built target VideoConvert
[100%] Linking CXX executable ModelViewer
[100%] Built target ModelViewer
/proj/hankf/slam/pangolin2/Pangolin/build$ sudo make install
[sudo] password for hankf: 
[  8%] Built target pango_core
[ 17%] Built target pango_image
[ 23%] Built target pango_opengl
[ 27%] Built target pango_packetstream
[ 29%] Built target tinyobj
[ 32%] Built target pango_geometry
[ 33%] Built target pango_glgeometry
[ 38%] Built target pango_windowing
[ 40%] Built target pango_vars
[ 47%] Built target pango_display
[ 49%] Built target pango_plot
[ 50%] Built target pango_scene
[ 69%] Built target pango_video
[ 70%] Built target pango_tools
[ 72%] Built target tutorial_5_gl_intro_view_transforms
[ 73%] Built target tutorial_4_gl_intro_viewport
[ 74%] Built target tutorial_1_gl_intro_pango_triangle
[ 75%] Built target tutorial_1_gl_intro_classic_triangle
[ 76%] Built target tutorial_2_gl_intro_classic_triangle_vbo
[ 78%] Built target tutorial_2_gl_intro_pango_triangle_vbo
[ 79%] Built target tutorial_3_gl_intro_pango_triangle_vbo_shader
[ 80%] Built target tutorial_3_gl_intro_classic_triangle_vbo_shader
[ 82%] Built target pango_python
[ 83%] Built target HelloPangolin
[ 85%] Built target SimpleDisplay
[ 86%] Built target SimpleMultiDisplay
[ 87%] Built target SimpleDisplayImage
[ 88%] Built target SimplePlot
[ 89%] Built target SimpleVideo
[ 91%] Built target SimpleRecord
[ 92%] Built target HelloPangolinOffscreen
[ 93%] Built target SimpleScene
[ 94%] Built target VideoViewer
[ 95%] Built target VideoConvert
[ 96%] Built target VideoJsonPrint
[ 98%] Built target VideoJsonTransform
[ 99%] Built target Plotter
[100%] Built target ModelViewer
Install the project...
-- Install configuration: "Release"
-- Up-to-date: /usr/local/include
-- Up-to-date: /usr/local/include/sigslot
-- Installing: /usr/local/include/sigslot/README.md
-- Installing: /usr/local/include/sigslot/signal.hpp
-- Installing: /usr/local/include/sigslot/LICENCE
-- Up-to-date: /usr/local/include/pangolin
-- Up-to-date: /usr/local/include/pangolin/compat
-- Installing: /usr/local/include/pangolin/compat/glutbitmap.h
-- Installing: /usr/local/include/pangolin/compat/type_traits.h
-- Up-to-date: /usr/local/include/pangolin/factory
-- Installing: /usr/local/include/pangolin/factory/factory.h
-- Installing: /usr/local/include/pangolin/factory/factory_help.h
-- Installing: /usr/local/include/pangolin/factory/factory_registry.h
-- Installing: /usr/local/include/pangolin/platform.h
-- Installing: /usr/local/include/pangolin/pangolin.h
-- Up-to-date: /usr/local/include/pangolin/utils
-- Installing: /usr/local/include/pangolin/utils/memstreambuf.h
-- Installing: /usr/local/include/pangolin/utils/parse.h
-- Installing: /usr/local/include/pangolin/utils/param_set.h
-- Installing: /usr/local/include/pangolin/utils/compontent_cast.h
-- Installing: /usr/local/include/pangolin/utils/argagg.hpp
-- Installing: /usr/local/include/pangolin/utils/true_false_toggle.h
-- Installing: /usr/local/include/pangolin/utils/range.h
-- Installing: /usr/local/include/pangolin/utils/picojson.h
-- Up-to-date: /usr/local/include/pangolin/utils/posix
-- Installing: /usr/local/include/pangolin/utils/posix/semaphore.h
-- Installing: /usr/local/include/pangolin/utils/posix/condition_variable.h
-- Installing: /usr/local/include/pangolin/utils/posix/shared_memory_buffer.h
-- Installing: /usr/local/include/pangolin/utils/fix_size_buffer_queue.h
-- Installing: /usr/local/include/pangolin/utils/file_utils.h
-- Installing: /usr/local/include/pangolin/utils/log.h
-- Installing: /usr/local/include/pangolin/utils/signal_slot.h
-- Installing: /usr/local/include/pangolin/utils/bitmask.h
-- Installing: /usr/local/include/pangolin/utils/avx_math.h
-- Installing: /usr/local/include/pangolin/utils/timer.h
-- Installing: /usr/local/include/pangolin/utils/type_convert.h
-- Installing: /usr/local/include/pangolin/utils/is_streamable.h
-- Installing: /usr/local/include/pangolin/utils/variadic_all.h
-- Installing: /usr/local/include/pangolin/utils/format_string.h
-- Installing: /usr/local/include/pangolin/utils/transform.h
-- Installing: /usr/local/include/pangolin/utils/simple_math.h
-- Installing: /usr/local/include/pangolin/utils/uri.h
-- Installing: /usr/local/include/pangolin/utils/sigstate.h
-- Up-to-date: /usr/local/include/pangolin/utils/xml
-- Installing: /usr/local/include/pangolin/utils/xml/rapidxml.hpp
-- Installing: /usr/local/include/pangolin/utils/xml/rapidxml_utils.hpp
-- Installing: /usr/local/include/pangolin/utils/xml/license.txt
-- Installing: /usr/local/include/pangolin/utils/xml/rapidxml_iterators.hpp
-- Installing: /usr/local/include/pangolin/utils/xml/rapidxml_print.hpp
-- Installing: /usr/local/include/pangolin/utils/threadedfilebuf.h
-- Installing: /usr/local/include/pangolin/utils/assert.h
-- Installing: /usr/local/include/pangolin/utils/file_extension.h
-- Installing: /usr/local/include/pangolin/utils/params.h
-- Up-to-date: /usr/local/include/NaturalSort
-- Installing: /usr/local/include/NaturalSort/natural_sort.hpp
-- Installing: /usr/local/include/NaturalSort/README.md
-- Installing: /usr/local/include/NaturalSort/LICENSE.md
-- Up-to-date: /usr/local/include/dynalo
-- Up-to-date: /usr/local/include/dynalo/detail
-- Up-to-date: /usr/local/include/dynalo/detail/macos
-- Installing: /usr/local/include/dynalo/detail/macos/dynalo.hpp
-- Up-to-date: /usr/local/include/dynalo/detail/linux
-- Installing: /usr/local/include/dynalo/detail/linux/dynalo.hpp
-- Up-to-date: /usr/local/include/dynalo/detail/windows
-- Installing: /usr/local/include/dynalo/detail/windows/dynalo.hpp
-- Installing: /usr/local/include/dynalo/detail/config.hpp
-- Installing: /usr/local/include/dynalo/dynalo.hpp
-- Installing: /usr/local/include/dynalo/symbol_helper.hpp
-- Up-to-date: /usr/local/include
-- Up-to-date: /usr/local/include/pangolin
-- Up-to-date: /usr/local/include/pangolin/console
-- Installing: /usr/local/include/pangolin/console/InterpreterInterface.h
-- Installing: /usr/local/include/pangolin/console/ConsoleView.h
-- Up-to-date: /usr/local/include/pangolin/display
-- Installing: /usr/local/include/pangolin/display/image_view.h
-- Installing: /usr/local/include/pangolin/display/user_app.h
-- Installing: /usr/local/include/pangolin/display/default_font.h
-- Installing: /usr/local/include/pangolin/display/display.h
-- Installing: /usr/local/include/pangolin/display/process.h
-- Installing: /usr/local/include/pangolin/display/display.hpp
-- Installing: /usr/local/include/pangolin/display/widgets.h
-- Installing: /usr/local/include/pangolin/display/attach.h
-- Installing: /usr/local/include/pangolin/display/view.h
-- Up-to-date: /usr/local/include/pangolin/handler
-- Installing: /usr/local/include/pangolin/handler/handler.h
-- Installing: /usr/local/include/pangolin/handler/handler_image.h
-- Installing: /usr/local/include/pangolin/handler/handler_glbuffer.h
-- Up-to-date: /usr/local/include
-- Up-to-date: /usr/local/include/pangolin
-- Up-to-date: /usr/local/include/pangolin/geometry
-- Installing: /usr/local/include/pangolin/geometry/geometry.h
-- Installing: /usr/local/include/pangolin/geometry/geometry_obj.h
-- Installing: /usr/local/include/pangolin/geometry/geometry_ply.h
-- Up-to-date: /usr/local/include
-- Up-to-date: /usr/local/include/pangolin
-- Up-to-date: /usr/local/include/pangolin/geometry
-- Installing: /usr/local/include/pangolin/geometry/glgeometry.h
-- Up-to-date: /usr/local/include
-- Up-to-date: /usr/local/include/pangolin
-- Up-to-date: /usr/local/include/pangolin/image
-- Installing: /usr/local/include/pangolin/image/typed_image.h
-- Installing: /usr/local/include/pangolin/image/managed_image.h
-- Installing: /usr/local/include/pangolin/image/image_utils.h
-- Installing: /usr/local/include/pangolin/image/memcpy.h
-- Installing: /usr/local/include/pangolin/image/image_convert.h
-- Installing: /usr/local/include/pangolin/image/pixel_format.h
-- Installing: /usr/local/include/pangolin/image/image_io.h
-- Installing: /usr/local/include/pangolin/image/image.h
-- Installing: /usr/local/include/pangolin/image/copy.h
-- Up-to-date: /usr/local/include
-- Up-to-date: /usr/local/include/pangolin
-- Up-to-date: /usr/local/include/pangolin/gl
-- Installing: /usr/local/include/pangolin/gl/glfont.h
-- Installing: /usr/local/include/pangolin/gl/glchar.h
-- Installing: /usr/local/include/pangolin/gl/opengl_render_state.h
-- Up-to-date: /usr/local/include/pangolin/gl/compat
-- Installing: /usr/local/include/pangolin/gl/compat/gl_es_compat.h
-- Installing: /usr/local/include/pangolin/gl/compat/gl2engine.h
-- Installing: /usr/local/include/pangolin/gl/viewport.h
-- Installing: /usr/local/include/pangolin/gl/gl.h
-- Installing: /usr/local/include/pangolin/gl/colour.h
-- Installing: /usr/local/include/pangolin/gl/gldraw.h
-- Installing: /usr/local/include/pangolin/gl/glpangoglu.h
-- Installing: /usr/local/include/pangolin/gl/cg.h
-- Installing: /usr/local/include/pangolin/gl/glcuda.h
-- Installing: /usr/local/include/pangolin/gl/glstate.h
-- Installing: /usr/local/include/pangolin/gl/glvbo.h
-- Installing: /usr/local/include/pangolin/gl/glformattraits.h
-- Installing: /usr/local/include/pangolin/gl/glsl.h
-- Installing: /usr/local/include/pangolin/gl/glinclude.h
-- Installing: /usr/local/include/pangolin/gl/glpixformat.h
-- Installing: /usr/local/include/pangolin/gl/glplatform.h
-- Installing: /usr/local/include/pangolin/gl/gltext.h
-- Installing: /usr/local/include/pangolin/gl/gltexturecache.h
-- Installing: /usr/local/include/pangolin/gl/gl.hpp
-- Up-to-date: /usr/local/include
-- Up-to-date: /usr/local/include/pangolin
-- Up-to-date: /usr/local/include/pangolin/log
-- Installing: /usr/local/include/pangolin/log/packetstream_reader.h
-- Installing: /usr/local/include/pangolin/log/packet.h
-- Installing: /usr/local/include/pangolin/log/playback_session.h
-- Installing: /usr/local/include/pangolin/log/packetstream_tags.h
-- Installing: /usr/local/include/pangolin/log/packetstream_source.h
-- Installing: /usr/local/include/pangolin/log/packetstream_writer.h
-- Installing: /usr/local/include/pangolin/log/packetstream.h
-- Installing: /usr/local/include/pangolin/log/sync_time.h
-- Up-to-date: /usr/local/include
-- Up-to-date: /usr/local/include/pangolin
-- Up-to-date: /usr/local/include/pangolin/plot
-- Up-to-date: /usr/local/include/pangolin/plot/loaders
-- Installing: /usr/local/include/pangolin/plot/loaders/table_loader.h
-- Installing: /usr/local/include/pangolin/plot/loaders/csv_table_loader.h
-- Installing: /usr/local/include/pangolin/plot/datalog.h
-- Installing: /usr/local/include/pangolin/plot/plotter.h
-- Up-to-date: /usr/local/include
-- Up-to-date: /usr/local/include/pangolin
-- Up-to-date: /usr/local/include/pangolin/scene
-- Installing: /usr/local/include/pangolin/scene/renderable.h
-- Installing: /usr/local/include/pangolin/scene/scenehandler.h
-- Installing: /usr/local/include/pangolin/scene/interactive.h
-- Installing: /usr/local/include/pangolin/scene/tree.h
-- Installing: /usr/local/include/pangolin/scene/interactive_index.h
-- Installing: /usr/local/include/pangolin/scene/axis.h
-- Up-to-date: /usr/local/include
-- Up-to-date: /usr/local/include/pangolin
-- Up-to-date: /usr/local/include/pangolin/tools
-- Installing: /usr/local/include/pangolin/tools/video_viewer.h
-- Up-to-date: /usr/local/include
-- Up-to-date: /usr/local/include/pangolin
-- Up-to-date: /usr/local/include/pangolin/var
-- Installing: /usr/local/include/pangolin/var/varinit.h
-- Installing: /usr/local/include/pangolin/var/var.h
-- Installing: /usr/local/include/pangolin/var/varwrapper.h
-- Installing: /usr/local/include/pangolin/var/varextra.h
-- Installing: /usr/local/include/pangolin/var/varstate.h
-- Installing: /usr/local/include/pangolin/var/varvaluegeneric.h
-- Installing: /usr/local/include/pangolin/var/varvaluet.h
-- Installing: /usr/local/include/pangolin/var/varvalue.h
-- Up-to-date: /usr/local/include
-- Up-to-date: /usr/local/include/pangolin
-- Up-to-date: /usr/local/include/pangolin/video
-- Installing: /usr/local/include/pangolin/video/stream_info.h
-- Installing: /usr/local/include/pangolin/video/video_exception.h
-- Installing: /usr/local/include/pangolin/video/iostream_operators.h
-- Installing: /usr/local/include/pangolin/video/video_record_repeat.h
-- Installing: /usr/local/include/pangolin/video/video_output.h
-- Installing: /usr/local/include/pangolin/video/video_output_interface.h
-- Installing: /usr/local/include/pangolin/video/stream_encoder_factory.h
-- Installing: /usr/local/include/pangolin/video/video_interface.h
-- Installing: /usr/local/include/pangolin/video/video.h
-- Installing: /usr/local/include/pangolin/video/video_input.h
-- Up-to-date: /usr/local/include/pangolin/video/drivers
-- Installing: /usr/local/include/pangolin/video/drivers/test.h
-- Installing: /usr/local/include/pangolin/video/drivers/uvc.h
-- Installing: /usr/local/include/pangolin/video/drivers/ffmpeg_common.h
-- Installing: /usr/local/include/pangolin/video/drivers/merge.h
-- Installing: /usr/local/include/pangolin/video/drivers/unpack.h
-- Installing: /usr/local/include/pangolin/video/drivers/openni_common.h
-- Installing: /usr/local/include/pangolin/video/drivers/shift.h
-- Installing: /usr/local/include/pangolin/video/drivers/teli.h
-- Installing: /usr/local/include/pangolin/video/drivers/pack.h
-- Installing: /usr/local/include/pangolin/video/drivers/openni.h
-- Installing: /usr/local/include/pangolin/video/drivers/openni2.h
-- Installing: /usr/local/include/pangolin/video/drivers/pango_video_output.h
-- Installing: /usr/local/include/pangolin/video/drivers/images_out.h
-- Installing: /usr/local/include/pangolin/video/drivers/thread.h
-- Installing: /usr/local/include/pangolin/video/drivers/pango.h
-- Installing: /usr/local/include/pangolin/video/drivers/firewire.h
-- Installing: /usr/local/include/pangolin/video/drivers/images.h
-- Installing: /usr/local/include/pangolin/video/drivers/pleora.h
-- Installing: /usr/local/include/pangolin/video/drivers/split.h
-- Installing: /usr/local/include/pangolin/video/drivers/realsense2.h
-- Installing: /usr/local/include/pangolin/video/drivers/shared_memory.h
-- Installing: /usr/local/include/pangolin/video/drivers/deinterlace.h
-- Installing: /usr/local/include/pangolin/video/drivers/gamma.h
-- Installing: /usr/local/include/pangolin/video/drivers/transform.h
-- Installing: /usr/local/include/pangolin/video/drivers/uvc_mediafoundation.h
-- Installing: /usr/local/include/pangolin/video/drivers/ffmpeg.h
-- Installing: /usr/local/include/pangolin/video/drivers/debayer.h
-- Installing: /usr/local/include/pangolin/video/drivers/depthsense.h
-- Installing: /usr/local/include/pangolin/video/drivers/ffmpeg_convert.h
-- Installing: /usr/local/include/pangolin/video/drivers/truncate.h
-- Installing: /usr/local/include/pangolin/video/drivers/join.h
-- Installing: /usr/local/include/pangolin/video/drivers/realsense.h
-- Installing: /usr/local/include/pangolin/video/drivers/ffmpeg_output.h
-- Installing: /usr/local/include/pangolin/video/drivers/v4l.h
-- Installing: /usr/local/include/pangolin/video/video_help.h
-- Up-to-date: /usr/local/include
-- Up-to-date: /usr/local/include/pangolin
-- Up-to-date: /usr/local/include/pangolin/factory
-- Installing: /usr/local/include/pangolin/factory/RegisterFactoriesVideoOutputInterface.h
-- Installing: /usr/local/include/pangolin/factory/RegisterFactoriesVideoInterface.h
-- Installing: /usr/local/include/pangolin/factory/RegisterFactoriesWindowInterface.h
-- Up-to-date: /usr/local/include
-- Up-to-date: /usr/local/include/pangolin
-- Up-to-date: /usr/local/include/pangolin/windowing
-- Installing: /usr/local/include/pangolin/windowing/OsxWindow.h
-- Installing: /usr/local/include/pangolin/windowing/X11Window.h
-- Installing: /usr/local/include/pangolin/windowing/PangolinNSApplication.h
-- Installing: /usr/local/include/pangolin/windowing/X11GlContext.h
-- Installing: /usr/local/include/pangolin/windowing/window.h
-- Installing: /usr/local/include/pangolin/windowing/handler_bitsets.h
-- Installing: /usr/local/include/pangolin/windowing/PangolinNSGLView.h
-- Installing: /usr/local/include/pangolin/windowing/EmscriptenWindow.h
-- Installing: /usr/local/include/pangolin/windowing/display_android.h
-- Installing: /usr/local/include/pangolin/windowing/handler_enums.h
-- Installing: /usr/local/include/pangolin/windowing/WinWindow.h
-- Up-to-date: /usr/local/include
-- Up-to-date: /usr/local/include/pangolin
-- Up-to-date: /usr/local/include/pangolin/factory
-- Up-to-date: /usr/local/include/pangolin/factory/RegisterFactoriesVideoOutputInterface.h
-- Up-to-date: /usr/local/include/pangolin/factory/RegisterFactoriesVideoInterface.h
-- Up-to-date: /usr/local/include/pangolin/factory/RegisterFactoriesWindowInterface.h
-- Up-to-date: /usr/local/include
-- Up-to-date: /usr/local/include/tinyobj
-- Installing: /usr/local/include/tinyobj/tiny_obj_loader.h
-- Installing: /usr/local/lib/libpango_core.so
-- Installing: /usr/local/lib/libpango_display.so
-- Set runtime path of "/usr/local/lib/libpango_display.so" to ""
-- Installing: /usr/local/lib/libpango_geometry.so
-- Set runtime path of "/usr/local/lib/libpango_geometry.so" to ""
-- Installing: /usr/local/lib/libpango_glgeometry.so
-- Set runtime path of "/usr/local/lib/libpango_glgeometry.so" to ""
-- Installing: /usr/local/lib/libpango_image.so
-- Set runtime path of "/usr/local/lib/libpango_image.so" to ""
-- Installing: /usr/local/lib/libpango_opengl.so
-- Set runtime path of "/usr/local/lib/libpango_opengl.so" to ""
-- Installing: /usr/local/lib/libpango_packetstream.so
-- Set runtime path of "/usr/local/lib/libpango_packetstream.so" to ""
-- Installing: /usr/local/lib/libpango_plot.so
-- Set runtime path of "/usr/local/lib/libpango_plot.so" to ""
-- Installing: /usr/local/lib/libpango_python.so
-- Installing: /usr/local/lib/libpango_scene.so
-- Set runtime path of "/usr/local/lib/libpango_scene.so" to ""
-- Installing: /usr/local/lib/libpango_tools.so
-- Set runtime path of "/usr/local/lib/libpango_tools.so" to ""
-- Installing: /usr/local/lib/libpango_vars.so
-- Set runtime path of "/usr/local/lib/libpango_vars.so" to ""
-- Installing: /usr/local/lib/libpango_video.so
-- Set runtime path of "/usr/local/lib/libpango_video.so" to ""
-- Installing: /usr/local/lib/libpango_windowing.so
-- Set runtime path of "/usr/local/lib/libpango_windowing.so" to ""
-- Installing: /usr/local/lib/libtinyobj.so
-- Installing: /usr/local/lib/cmake/Pangolin/PangolinConfig.cmake
-- Installing: /usr/local/lib/cmake/Pangolin/PangolinConfigVersion.cmake
-- Installing: /usr/local/lib/cmake/Pangolin/PangolinTargets.cmake
-- Installing: /usr/local/lib/cmake/Pangolin/PangolinTargets-release.cmake
-- Installing: /usr/local/bin/VideoViewer
-- Set runtime path of "/usr/local/bin/VideoViewer" to ""
-- Installing: /usr/local/bin/VideoConvert
-- Set runtime path of "/usr/local/bin/VideoConvert" to ""
-- Installing: /usr/local/bin/VideoJsonPrint
-- Set runtime path of "/usr/local/bin/VideoJsonPrint" to ""
-- Installing: /usr/local/bin/VideoJsonTransform
-- Set runtime path of "/usr/local/bin/VideoJsonTransform" to ""
-- Installing: /usr/local/bin/Plotter
-- Set runtime path of "/usr/local/bin/Plotter" to ""

/proj/hankf/slam/pangolin2/Pangolin/build$ uname -a
Linux XSZGS4 5.4.0-91-generic #102~18.04.1-Ubuntu SMP Thu Nov 11 14:46:36 UTC 2021 x86_64 x86_64 x86_64 GNU/Linux

运行ORB_SLAM3

hankf@XSZGS4:~/proj/hankf/slam/ORB_SLAM3$ uname -a
Linux XSZGS4 5.4.0-91-generic #102~18.04.1-Ubuntu SMP Thu Nov 11 14:46:36 UTC 2021 x86_64 x86_64 x86_64 GNU/Linux
hankf@XSZGS4:~/proj/hankf/slam/ORB_SLAM3$ pwd
/proj/hankf/slam/ORB_SLAM3
hankf@XSZGS4:~/proj/hankf/slam/ORB_SLAM3$ ./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml /proj/hankf/hankf/slam/euroc-mav-dataset/MH_04_difficult ./Examples/Stereo/EuRoC_TimeStamps/MH04.txt dataset-MH04_stereo
num_seq = 1
file name: dataset-MH04_stereo
Loading images for sequence 0...LOADED!

-------

ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. G髆ez, Jos?M.M. Montiel and Juan D. Tard髎, University of Zaragoza.
ORB-SLAM2 Copyright (C) 2014-2016 Ra鷏 Mur-Artal, Jos?M.M. Montiel and Juan D. Tard髎, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.

Input sensor was set to: Stereo
Loading settings from ./Examples/Stereo/EuRoC.yaml
Camera1.k3 optional parameter does not exist...
	-Loaded camera 1
Camera2.k3 optional parameter does not exist...
	-Loaded camera 2
Camera.newHeight optional parameter does not exist...
Camera.newWidth optional parameter does not exist...
	-Loaded image info
	-Loaded ORB settings
	-Loaded viewer settings
System.LoadAtlasFromFile optional parameter does not exist...
System.SaveAtlasToFile optional parameter does not exist...
	-Loaded Atlas settings
System.thFarPoints optional parameter does not exist...
	-Loaded misc parameters
	-Computed rectification maps
----------------------------------
SLAM settings: 
	-Camera 1 parameters (Pinhole): [ 458.65399169921875 457.29598999023438 367.21499633789062 248.375 ]
	-Camera 1 distortion parameters: [  -0.28340810537338257 0.073959067463874817 0.00019359000725671649 1.7618711353861727e-05 ]
	-Camera 2 parameters (Pinhole: [ 457.58700561523438 456.13400268554688 379.99899291992188 255.23800659179688 ]
	-Camera 1 distortion parameters: [  -0.2836836576461792 0.074512839317321777 -0.00010473000293131918 -3.555907096597366e-05 ]
	-Original image size: [ 752 , 480 ]
	-Current image size: [ 752 , 480 ]
	-Camera 1 parameters after rectification: [  456.71499633789062 456.71499633789062 364.52615356445312 257.268798828125 ]
	-Sequence FPS: 20
	-Stereo baseline: 0.11007784307003021
	-Stereo depth threshold : 60
	-Features per image: 1200
	-ORB scale factor: 1.2000000476837158
	-ORB number of scales: 8
	-Initial FAST threshold: 20
	-Min FAST threshold: 7


Loading ORB Vocabulary. This could take a while...

Vocabulary loaded!

Initialization of Atlas from scratch 
Creation of new map with id: 0
Creation of new map with last KF id: 0
Seq. Name: 
There are 1 cameras in the atlas
Camera 0 is pinhole
terminate called after throwing an instance of 'std::runtime_error'
  what():  Pangolin X11: Unable to retrieve framebuffer options
Aborted (core dumped)

2016年发布的Pangolin v0.5的原始内容

    int visual_attribs[] =
    {
        GLX_X_RENDERABLE    , True,
        GLX_DRAWABLE_TYPE   , GLX_WINDOW_BIT,
        GLX_RENDER_TYPE     , GLX_RGBA_BIT,
        GLX_X_VISUAL_TYPE   , GLX_TRUE_COLOR,
        GLX_RED_SIZE        , 8,
        GLX_GREEN_SIZE      , 8,
        GLX_BLUE_SIZE       , 8,
        GLX_ALPHA_SIZE      , 8,
        GLX_DEPTH_SIZE      , 24,
        GLX_STENCIL_SIZE    , 8,
        GLX_DOUBLEBUFFER    , glx_doublebuffer ? True : False,
        None
    };

2016年发布的Pangolin v0.5的原始内容

    int visual_attribs[] =
    {
        GLX_X_RENDERABLE    , True,
        GLX_DRAWABLE_TYPE   , GLX_WINDOW_BIT,
        GLX_RENDER_TYPE     , GLX_RGBA_BIT,
        GLX_X_VISUAL_TYPE   , GLX_TRUE_COLOR,
        GLX_RED_SIZE        , 8,
        GLX_GREEN_SIZE      , 8,
        GLX_BLUE_SIZE       , 8,
        GLX_ALPHA_SIZE      , 8,
        GLX_DEPTH_SIZE      , 24,
        GLX_STENCIL_SIZE    , 8,
        GLX_DOUBLEBUFFER    , glx_doublebuffer ? False : False,
        None
    };

ORB_SLAM3版本

ORB_SLAM3版本使用的是1.0版本。

/proj/hankf/slam/ORB_SLAM3$ git status
On branch v1.0-release
nothing to commit, working tree clean
/proj/hankf/slam/ORB_SLAM3$ git branch
  master
* v1.0-release
/proj/hankf/slam/ORB_SLAM3$ git tag -l
v0.2-beta
v0.3-beta
v0.4-beta
v1.0-release

opencv版本

检查opencv版本，库目录里是opencv 3.4.16。这台机器，以前也安装过opencv 4.5.4. SLAM编译过程中，提示过需要opencv 4.5。

/proj/hankf/slam$ pkg-config --modversion opencv
3.4.16

/proj/hankf/slam/opencv-4.5/build$ ls -l /usr/local/lib/*opencv*
lrwxrwxrwx 1 root root       24 Dec 28 09:24 /usr/local/lib/libopencv_calib3d.so -> libopencv_calib3d.so.4.5
lrwxrwxrwx 1 root root       27 Dec  9 16:54 /usr/local/lib/libopencv_calib3d.so.3.4 -> libopencv_calib3d.so.3.4.16
-rw-r--r-- 1 root root  1546752 Dec  9 16:53 /usr/local/lib/libopencv_calib3d.so.3.4.16
lrwxrwxrwx 1 root root       26 Dec 28 09:24 /usr/local/lib/libopencv_calib3d.so.4.5 -> libopencv_calib3d.so.4.5.4
-rw-r--r-- 1 root root  2604544 Dec  9 17:11 /usr/local/lib/libopencv_calib3d.so.4.5.4
lrwxrwxrwx 1 root root       21 Dec 28 09:24 /usr/local/lib/libopencv_core.so -> libopencv_core.so.4.5
lrwxrwxrwx 1 root root       24 Dec  9 16:54 /usr/local/lib/libopencv_core.so.3.4 -> libopencv_core.so.3.4.16
-rw-r--r-- 1 root root 17743664 Dec  9 16:53 /usr/local/lib/libopencv_core.so.3.4.16
lrwxrwxrwx 1 root root       23 Dec 28 09:24 /usr/local/lib/libopencv_core.so.4.5 -> libopencv_core.so.4.5.4
-rw-r--r-- 1 root root 18140088 Dec  9 17:11 /usr/local/lib/libopencv_core.so.4.5.4
lrwxrwxrwx 1 root root       20 Dec 28 09:24 /usr/local/lib/libopencv_dnn.so -> libopencv_dnn.so.4.5
lrwxrwxrwx 1 root root       23 Dec  9 16:54 /usr/local/lib/libopencv_dnn.so.3.4 -> libopencv_dnn.so.3.4.16
-rw-r--r-- 1 root root  5640832 Dec  9 16:53 /usr/local/lib/libopencv_dnn.so.3.4.16
lrwxrwxrwx 1 root root       22 Dec 28 09:24 /usr/local/lib/libopencv_dnn.so.4.5 -> libopencv_dnn.so.4.5.4
-rw-r--r-- 1 root root  6332024 Dec  9 17:11 /usr/local/lib/libopencv_dnn.so.4.5.4
lrwxrwxrwx 1 root root       27 Dec 28 09:24 /usr/local/lib/libopencv_features2d.so -> libopencv_features2d.so.4.5
lrwxrwxrwx 1 root root       30 Dec  9 16:54 /usr/local/lib/libopencv_features2d.so.3.4 -> libopencv_features2d.so.3.4.16
-rw-r--r-- 1 root root  1023872 Dec  9 16:53 /usr/local/lib/libopencv_features2d.so.3.4.16
lrwxrwxrwx 1 root root       29 Dec 28 09:24 /usr/local/lib/libopencv_features2d.so.4.5 -> libopencv_features2d.so.4.5.4
-rw-r--r-- 1 root root  1059112 Dec  9 17:11 /usr/local/lib/libopencv_features2d.so.4.5.4
lrwxrwxrwx 1 root root       22 Dec 28 09:24 /usr/local/lib/libopencv_flann.so -> libopencv_flann.so.4.5
lrwxrwxrwx 1 root root       25 Dec  9 16:54 /usr/local/lib/libopencv_flann.so.3.4 -> libopencv_flann.so.3.4.16
-rw-r--r-- 1 root root   517800 Dec  9 16:53 /usr/local/lib/libopencv_flann.so.3.4.16
lrwxrwxrwx 1 root root       24 Dec 28 09:24 /usr/local/lib/libopencv_flann.so.4.5 -> libopencv_flann.so.4.5.4
-rw-r--r-- 1 root root   612784 Dec  9 17:11 /usr/local/lib/libopencv_flann.so.4.5.4
lrwxrwxrwx 1 root root       21 Dec 28 09:24 /usr/local/lib/libopencv_gapi.so -> libopencv_gapi.so.4.5
lrwxrwxrwx 1 root root       23 Dec 28 09:24 /usr/local/lib/libopencv_gapi.so.4.5 -> libopencv_gapi.so.4.5.4
-rw-r--r-- 1 root root  5204616 Dec  9 17:11 /usr/local/lib/libopencv_gapi.so.4.5.4
lrwxrwxrwx 1 root root       24 Dec 28 09:24 /usr/local/lib/libopencv_highgui.so -> libopencv_highgui.so.4.5
lrwxrwxrwx 1 root root       27 Dec  9 16:54 /usr/local/lib/libopencv_highgui.so.3.4 -> libopencv_highgui.so.3.4.16
-rw-r--r-- 1 root root   113464 Dec  9 16:53 /usr/local/lib/libopencv_highgui.so.3.4.16
lrwxrwxrwx 1 root root       26 Dec 28 09:24 /usr/local/lib/libopencv_highgui.so.4.5 -> libopencv_highgui.so.4.5.4
-rw-r--r-- 1 root root   325544 Dec 29 11:21 /usr/local/lib/libopencv_highgui.so.4.5.4
lrwxrwxrwx 1 root root       26 Dec 28 09:24 /usr/local/lib/libopencv_imgcodecs.so -> libopencv_imgcodecs.so.4.5
lrwxrwxrwx 1 root root       29 Dec  9 16:54 /usr/local/lib/libopencv_imgcodecs.so.3.4 -> libopencv_imgcodecs.so.3.4.16
-rw-r--r-- 1 root root   433544 Dec  9 16:53 /usr/local/lib/libopencv_imgcodecs.so.3.4.16
lrwxrwxrwx 1 root root       28 Dec 28 09:24 /usr/local/lib/libopencv_imgcodecs.so.4.5 -> libopencv_imgcodecs.so.4.5.4
-rw-r--r-- 1 root root   499416 Dec  9 17:11 /usr/local/lib/libopencv_imgcodecs.so.4.5.4
lrwxrwxrwx 1 root root       24 Dec 28 09:24 /usr/local/lib/libopencv_imgproc.so -> libopencv_imgproc.so.4.5
lrwxrwxrwx 1 root root       27 Dec  9 16:54 /usr/local/lib/libopencv_imgproc.so.3.4 -> libopencv_imgproc.so.3.4.16
-rw-r--r-- 1 root root 30538792 Dec  9 16:53 /usr/local/lib/libopencv_imgproc.so.3.4.16
lrwxrwxrwx 1 root root       26 Dec 28 09:24 /usr/local/lib/libopencv_imgproc.so.4.5 -> libopencv_imgproc.so.4.5.4
-rw-r--r-- 1 root root 30675784 Dec  9 17:11 /usr/local/lib/libopencv_imgproc.so.4.5.4
lrwxrwxrwx 1 root root       19 Dec 28 09:24 /usr/local/lib/libopencv_ml.so -> libopencv_ml.so.4.5
lrwxrwxrwx 1 root root       22 Dec  9 16:54 /usr/local/lib/libopencv_ml.so.3.4 -> libopencv_ml.so.3.4.16
-rw-r--r-- 1 root root   721088 Dec  9 16:53 /usr/local/lib/libopencv_ml.so.3.4.16
lrwxrwxrwx 1 root root       21 Dec 28 09:24 /usr/local/lib/libopencv_ml.so.4.5 -> libopencv_ml.so.4.5.4
-rw-r--r-- 1 root root   694048 Dec  9 17:11 /usr/local/lib/libopencv_ml.so.4.5.4
lrwxrwxrwx 1 root root       26 Dec 28 09:24 /usr/local/lib/libopencv_objdetect.so -> libopencv_objdetect.so.4.5
lrwxrwxrwx 1 root root       29 Dec  9 16:54 /usr/local/lib/libopencv_objdetect.so.3.4 -> libopencv_objdetect.so.3.4.16
-rw-r--r-- 1 root root   665624 Dec  9 16:53 /usr/local/lib/libopencv_objdetect.so.3.4.16
lrwxrwxrwx 1 root root       28 Dec 28 09:24 /usr/local/lib/libopencv_objdetect.so.4.5 -> libopencv_objdetect.so.4.5.4
-rw-r--r-- 1 root root   643776 Dec  9 17:11 /usr/local/lib/libopencv_objdetect.so.4.5.4
lrwxrwxrwx 1 root root       22 Dec 28 09:24 /usr/local/lib/libopencv_photo.so -> libopencv_photo.so.4.5
lrwxrwxrwx 1 root root       25 Dec  9 16:54 /usr/local/lib/libopencv_photo.so.3.4 -> libopencv_photo.so.3.4.16
-rw-r--r-- 1 root root   803184 Dec  9 16:53 /usr/local/lib/libopencv_photo.so.3.4.16
lrwxrwxrwx 1 root root       24 Dec 28 09:24 /usr/local/lib/libopencv_photo.so.4.5 -> libopencv_photo.so.4.5.4
-rw-r--r-- 1 root root   805688 Dec  9 17:11 /usr/local/lib/libopencv_photo.so.4.5.4
lrwxrwxrwx 1 root root       22 Dec  9 16:54 /usr/local/lib/libopencv_shape.so -> libopencv_shape.so.3.4
lrwxrwxrwx 1 root root       25 Dec  9 16:54 /usr/local/lib/libopencv_shape.so.3.4 -> libopencv_shape.so.3.4.16
-rw-r--r-- 1 root root   185808 Dec  9 16:53 /usr/local/lib/libopencv_shape.so.3.4.16
lrwxrwxrwx 1 root root       26 Dec 28 09:24 /usr/local/lib/libopencv_stitching.so -> libopencv_stitching.so.4.5
lrwxrwxrwx 1 root root       29 Dec  9 16:54 /usr/local/lib/libopencv_stitching.so.3.4 -> libopencv_stitching.so.3.4.16
-rw-r--r-- 1 root root   609368 Dec  9 16:53 /usr/local/lib/libopencv_stitching.so.3.4.16
lrwxrwxrwx 1 root root       28 Dec 28 09:24 /usr/local/lib/libopencv_stitching.so.4.5 -> libopencv_stitching.so.4.5.4
-rw-r--r-- 1 root root   839240 Dec  9 17:11 /usr/local/lib/libopencv_stitching.so.4.5.4
lrwxrwxrwx 1 root root       25 Dec  9 16:54 /usr/local/lib/libopencv_superres.so -> libopencv_superres.so.3.4
lrwxrwxrwx 1 root root       28 Dec  9 16:54 /usr/local/lib/libopencv_superres.so.3.4 -> libopencv_superres.so.3.4.16
-rw-r--r-- 1 root root   164224 Dec  9 16:53 /usr/local/lib/libopencv_superres.so.3.4.16
lrwxrwxrwx 1 root root       24 Dec 28 09:24 /usr/local/lib/libopencv_videoio.so -> libopencv_videoio.so.4.5
lrwxrwxrwx 1 root root       27 Dec  9 16:54 /usr/local/lib/libopencv_videoio.so.3.4 -> libopencv_videoio.so.3.4.16
-rw-r--r-- 1 root root   404144 Dec  9 16:53 /usr/local/lib/libopencv_videoio.so.3.4.16
lrwxrwxrwx 1 root root       26 Dec 28 09:24 /usr/local/lib/libopencv_videoio.so.4.5 -> libopencv_videoio.so.4.5.4
-rw-r--r-- 1 root root   633848 Dec  9 17:11 /usr/local/lib/libopencv_videoio.so.4.5.4
lrwxrwxrwx 1 root root       22 Dec 28 09:24 /usr/local/lib/libopencv_video.so -> libopencv_video.so.4.5
lrwxrwxrwx 1 root root       25 Dec  9 16:54 /usr/local/lib/libopencv_video.so.3.4 -> libopencv_video.so.3.4.16
-rw-r--r-- 1 root root   385296 Dec  9 16:53 /usr/local/lib/libopencv_video.so.3.4.16
lrwxrwxrwx 1 root root       24 Dec 28 09:24 /usr/local/lib/libopencv_video.so.4.5 -> libopencv_video.so.4.5.4
-rw-r--r-- 1 root root   665672 Dec  9 17:11 /usr/local/lib/libopencv_video.so.4.5.4
lrwxrwxrwx 1 root root       26 Dec  9 16:54 /usr/local/lib/libopencv_videostab.so -> libopencv_videostab.so.3.4
lrwxrwxrwx 1 root root       29 Dec  9 16:54 /usr/local/lib/libopencv_videostab.so.3.4 -> libopencv_videostab.so.3.4.16
-rw-r--r-- 1 root root   308288 Dec  9 16:53 /usr/local/lib/libopencv_videostab.so.3.4.16
lrwxrwxrwx 1 root root       20 Dec  9 16:54 /usr/local/lib/libopencv_viz.so -> libopencv_viz.so.3.4
lrwxrwxrwx 1 root root       23 Dec  9 16:54 /usr/local/lib/libopencv_viz.so.3.4 -> libopencv_viz.so.3.4.16
-rw-r--r-- 1 root root   481744 Dec  9 16:53 /usr/local/lib/libopencv_viz.so.3.4.16

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原始发表：2021-12-29 ，如有侵权请联系 cloudcommunity@tencent.com 删除

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