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Compile according to the build_ros.sh file of AdaptSLAM, execute the make - j command, and report an error:

/usr/bin/ld: warning: libpangolin.so, needed by ../../../../lib/libORB_SLAM3.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libopencv_calib3d.so.3.4, needed by ../../../../lib/libORB_SLAM3.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libopencv_features2d.so.3.4, needed by ../../../../lib/libORB_SLAM3.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libopencv_highgui.so.3.4, needed by ../../../../lib/libORB_SLAM3.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libopencv_imgproc.so.3.4, needed by ../../../../lib/libORB_SLAM3.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libopencv_core.so.3.4, needed by ../../../../lib/libORB_SLAM3.so, not found (try using -rpath or -rpath-link) ../../../../lib/libORB_SLAM3.so：对‘cv::String::allocate(unsigned long)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::getTextSize(cv::String const&, int, double, int, int*)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::error(int, cv::String const&, char const*, char const*, int)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::operator<<(cv::FileStorage&, cv::String const&)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::Formatter::get(int)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::write(cv::FileStorage&, cv::String const&, double)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘pangolin::Handler3D::Handler3D(pangolin::OpenGlRenderState&, pangolin::AxisDirection, float, float)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::FileStorage::FileStorage(cv::String const&, int, cv::String const&)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::String::deallocate()’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::read(cv::FileNode const&, cv::String&, cv::String const&)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::putText(cv::_InputOutputArray const&, cv::String const&, cv::Point_<int>, int, double, cv::Scalar_<double>, int, int, bool)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::_OutputArray::create(int, int, int, int, bool, int) const’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::namedWindow(cv::String const&, int)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::write(cv::FileStorage&, cv::String const&, int)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::imshow(cv::String const&, cv::_InputArray const&)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::FileStorage::operator[](cv::String const&) const’未定义的引用 collect2: error: ld returned 1 exit status CMakeFiles/RGBD.dir/build.make:234: recipe for target '../RGBD' failed make[2]: *** [../RGBD] Error 1 CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/RGBD.dir/all' failed make[1]: *** [CMakeFiles/RGBD.dir/all] Error 2 make[1]: *** 正在等待未完成的任务.... /usr/bin/ld: warning: libpangolin.so, needed by ../../../../lib/libORB_SLAM3.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libopencv_calib3d.so.3.4, needed by ../../../../lib/libORB_SLAM3.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libopencv_features2d.so.3.4, needed by ../../../../lib/libORB_SLAM3.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libopencv_highgui.so.3.4, needed by ../../../../lib/libORB_SLAM3.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libopencv_imgproc.so.3.4, needed by ../../../../lib/libORB_SLAM3.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libopencv_core.so.3.4, needed by ../../../../lib/libORB_SLAM3.so, not found (try using -rpath or -rpath-link) CMakeFiles/Mono.dir/src/ros_mono.cc.o：在函数‘ImageGrabber::GrabImage(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)’中： ros_mono.cc:(.text+0x1fa)：对‘ORB_SLAM3::System::TrackMonocular(cv::Mat const&, double const&, std::vector<ORB_SLAM3::IMU::Point, std::allocator<ORB_SLAM3::IMU::Point> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::String::allocate(unsigned long)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::getTextSize(cv::String const&, int, double, int, int*)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::error(int, cv::String const&, char const*, char const*, int)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::operator<<(cv::FileStorage&, cv::String const&)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::Formatter::get(int)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::write(cv::FileStorage&, cv::String const&, double)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘pangolin::Handler3D::Handler3D(pangolin::OpenGlRenderState&, pangolin::AxisDirection, float, float)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::FileStorage::FileStorage(cv::String const&, int, cv::String const&)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::String::deallocate()’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::read(cv::FileNode const&, cv::String&, cv::String const&)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::putText(cv::_InputOutputArray const&, cv::String const&, cv::Point_<int>, int, double, cv::Scalar_<double>, int, int, bool)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::_OutputArray::create(int, int, int, int, bool, int) const’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::namedWindow(cv::String const&, int)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::write(cv::FileStorage&, cv::String const&, int)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::imshow(cv::String const&, cv::_InputArray const&)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::FileStorage::operator[](cv::String const&) const’未定义的引用 /usr/bin/ld: warning: libpangolin.so,collect2: error: ld returned 1 exit status needed by ../../../../lib/libORB_SLAM3.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libopencv_calib3d.so.3.4, needed by ../../../../lib/libORB_SLAM3.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libopencv_features2d.so.3.4, needed by ../../../../lib/libORB_SLAM3.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libopencv_highgui.so.3.4, needed by ../../../../lib/libORB_SLAM3.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libopencv_imgproc.so.3.4, needed by ../../../../lib/libORB_SLAM3.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libopencv_core.so.3.4, needed by ../../../../lib/libORB_SLAM3.so, not found (try using -rpath or -rpath-link) CMakeFiles/Mono_Inertial.dir/src/ros_mono_inertial.cc.o：在函数‘ImageGrabber::SyncWithImu()’中： ros_mono_inertial.cc:(.text+0x11bd)：对‘ORB_SLAM3::System::TrackMonocular(cv::Mat const&, double const&, std::vector<ORB_SLAM3::IMU::Point, std::allocator<ORB_SLAM3::IMU::Point> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::String::allocate(unsigned long)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::getTextSize(cv::String const&, int, double, int, int*)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::error(int, cv::String const&, char const*, char const*, int)’未定义的引用 ../CMakeFiles/Mono.dir/build.make:234: recipe for target '../Mono' failed ../make[2]: *** [../Mono] Error 1 ../../lib/libORB_SLAM3.so：对‘cv::operator<<(cv::FileStorage&, cv::String const&)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对CMakeFiles/Makefile2:434: recipe for target 'CMakeFiles/Mono.dir/all' failed ��make[1]: *** [CMakeFiles/Mono.dir/all] Error 2 �cv::Formatter::get(int)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::write(cv::FileStorage&, cv::String const&, double)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘pangolin::Handler3D::Handler3D(pangolin::OpenGlRenderState&, pangolin::AxisDirection, float, float)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::FileStorage::FileStorage(cv::String const&, int, cv::String const&)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::String::deallocate()’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::read(cv::FileNode const&, cv::String&, cv::String const&)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::putText(cv::_InputOutputArray const&, cv::String const&, cv::Point_<int>, int, double, cv::Scalar_<double>, int, int, bool)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::_OutputArray::create(int, int, int, int, bool, int) const’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::namedWindow(cv::String const&, int)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::write(cv::FileStorage&, cv::String const&, int)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::imshow(cv::String const&, cv::_InputArray const&)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::FileStorage::operator[](cv::String const&) const’未定义的引用 collect2: error: ld returned 1 exit status CMakeFiles/Mono_Inertial.dir/build.make:234: recipe for target '../Mono_Inertial' failed make[2]: *** [../Mono_Inertial] Error 1 CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/Mono_Inertial.dir/all' failed make[1]: *** [CMakeFiles/Mono_Inertial.dir/all] Error 2 /usr/bin/ld: warning: libpangolin.so, needed by ../../../../lib/libORB_SLAM3.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libopencv_calib3d.so.3.4, needed by ../../../../lib/libORB_SLAM3.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libopencv_features2d.so.3.4, needed by ../../../../lib/libORB_SLAM3.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libopencv_highgui.so.3.4, needed by ../../../../lib/libORB_SLAM3.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libopencv_imgproc.so.3.4, needed by ../../../../lib/libORB_SLAM3.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libopencv_core.so.3.4, needed by ../../../../lib/libORB_SLAM3.so, not found (try using -rpath or -rpath-link) ../../../../lib/libORB_SLAM3.so：对‘cv::String::allocate(unsigned long)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::getTextSize(cv::String const&, int, double, int, int*)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::error(int, cv::String const&, char const*, char const*, int)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::operator<<(cv::FileStorage&, cv::String const&)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::Formatter::get(int)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::write(cv::FileStorage&, cv::String const&, double)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘pangolin::Handler3D::Handler3D(pangolin::OpenGlRenderState&, pangolin::AxisDirection, float, float)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::FileStorage::FileStorage(cv::String const&, int, cv::String const&)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::String::deallocate()’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::read(cv::FileNode const&, cv::String&, cv::String const&)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::putText(cv::_InputOutputArray const&, cv::String const&, cv::Point_<int>, int, double, cv::Scalar_<double>, int, int, bool)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::_OutputArray::create(int, int, int, int, bool, int) const’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::namedWindow(cv::String const&, int)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::write(cv::FileStorage&, cv::String const&, int)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::imshow(cv::String const&, cv::_InputArray const&)’未定义的引用 ../../../../lib/libORB_SLAM3.so：对‘cv::FileStorage::operator[](cv::String const&) const’未定义的引用 collect2: error: ld returned 1 exit status CMakeFiles/Stereo.dir/build.make:234: recipe for target '../Stereo' failed make[2]: *** [../Stereo] Error 1 CMakeFiles/Makefile2:141: recipe for target 'CMakeFiles/Stereo.dir/all' failed make[1]: *** [CMakeFiles/Stereo.dir/all] Error 2 Makefile:129: recipe for target 'all' failed make: *** [all] Error 2

Is the compilation failure because opencv3.4 is forced?
How can I change it to opencv4.4?
Looking forward to the author's reply!!!

Hi everyone. I've benn trying to build and run the AdaptSLAM codebase. After installing all the dependencies and libraries, I ran ./build.sh following the instruction. However, I had the following error:

/home/lightwish/AdaptSLAM/Sim AdaptSLAM/Examples_old/Monocular/mono_kitti.cc:108:97: error: no matching function for call to ‘ORB_SLAM3::System::TrackMonocular(cv::Mat&, double&, int, std::vector<ORB_SLAM3::IMU::Point>, __gnu_cxx::__alloc_traits<std::allocator<std::__cxx11::basic_string<char> >, std::__cxx11::basic_string<char> >::value_type&)’
  108 |         SLAM.TrackMonocular(im,tframe,-1,vector<ORB_SLAM3::IMU::Point>(), vstrImageFilenames[ni]);
      |                                                                                                 ^
In file included from /home/lightwish/AdaptSLAM/Sim AdaptSLAM/Examples_old/Monocular/mono_kitti.cc:27:
/home/lightwish/AdaptSLAM/Sim AdaptSLAM/include/System.h:123:18: note: candidate: ‘Sophus::SE3f ORB_SLAM3::System::TrackMonocular(const cv::Mat&, const double&, const std::vector<ORB_SLAM3::IMU::Point>&, std::string)’
  123 |     Sophus::SE3f TrackMonocular(const cv::Mat &im, const double &timestamp, const vector<IMU::Point>& vImuMeas = vector<IMU::Point>(), string filename="");
      |                  ^~~~~~~~~~~~~~
/home/lightwish/AdaptSLAM/Sim AdaptSLAM/include/System.h:123:18: note:   candidate expects 4 arguments, 5 provided
/home/lightwish/AdaptSLAM/Sim AdaptSLAM/Examples_old/Monocular/mono_kitti.cc:62:12: warning: unused variable ‘t_resize’ [-Wunused-variable]
   62 |     double t_resize = 0.f;
      |            ^~~~~~~~
/home/lightwish/AdaptSLAM/Sim AdaptSLAM/Examples_old/Monocular/mono_kitti.cc:63:12: warning: unused variable ‘t_track’ [-Wunused-variable]
   63 |     double t_track = 0.f;
      |            ^~~~~~~
/home/lightwish/AdaptSLAM/Sim AdaptSLAM/Examples_old/Monocular-Inertial/mono_inertial_euroc.cc: In function ‘int main(int, char**)’:
/home/lightwish/AdaptSLAM/Sim AdaptSLAM/Examples_old/Monocular-Inertial/mono_inertial_euroc.cc:195:43: error: cannot convert ‘int’ to ‘const std::vector<ORB_SLAM3::IMU::Point>&’
  195 |             SLAM.TrackMonocular(im,tframe,-1,vImuMeas); // TODO change to monocular_inertial
      |                                           ^~
      |                                           |
      |                                           int
In file included from /home/lightwish/AdaptSLAM/Sim AdaptSLAM/Examples_old/Monocular-Inertial/mono_inertial_euroc.cc:28:
/home/lightwish/AdaptSLAM/Sim AdaptSLAM/include/System.h:123:103: note:   initializing argument 3 of ‘Sophus::SE3f ORB_SLAM3::System::TrackMonocular(const cv::Mat&, const double&, const std::vector<ORB_SLAM3::IMU::Point>&, std::string)’
  123 |     Sophus::SE3f TrackMonocular(const cv::Mat &im, const double &timestamp, const vector<IMU::Point>& vImuMeas = vector<IMU::Point>(), string filename="");
      |                                                                             ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/lightwish/AdaptSLAM/Sim AdaptSLAM/Examples_old/Monocular-Inertial/mono_inertial_euroc.cc:122:12: warning: unused variable ‘t_resize’ [-Wunused-variable]
  122 |     double t_resize = 0.f;
      |            ^~~~~~~~
/home/lightwish/AdaptSLAM/Sim AdaptSLAM/Examples_old/Monocular-Inertial/mono_inertial_euroc.cc:123:12: warning: unused variable ‘t_track’ [-Wunused-variable]
  123 |     double t_track = 0.f;
      |            ^~~~~~~
/home/lightwish/AdaptSLAM/Sim AdaptSLAM/Examples_old/Monocular-Inertial/mono_inertial_tum_vi.cc: In function ‘int main(int, char**)’:
/home/lightwish/AdaptSLAM/Sim AdaptSLAM/Examples_old/Monocular-Inertial/mono_inertial_tum_vi.cc:207:43: error: cannot convert ‘int’ to ‘const std::vector<ORB_SLAM3::IMU::Point>&’
  207 |             SLAM.TrackMonocular(im,tframe,-1,vImuMeas); // TODO change to monocular_inertial
      |                                           ^~
      |                                           |
      |                                           int

Then I checked the mono_kitti.cc, mono_inertial_euroc.cc, and mono_inertial_tum_vi.cc three files, I found that they call the ORB_SLAM3::System::TrackMonocular function as SLAM.TrackMonocular(im,tframe,-1,vector<ORB_SLAM3::IMU::Point>(), vstrImageFilenames[ni]); or SLAM.TrackMonocular(im,tframe,-1,vImuMeas);, and the problem seems to be the "-1" input, since the function is defined in system.cc as Sophus::SE3f System::TrackMonocular(const cv::Mat &im, const double &timestamp, const vector<IMU::Point>& vImuMeas, string filename) without an int input. And in original ORB-SLAM3, there is also no "-1" when calling the TrackMonocular() function. Actually I'm not familiar with the AdaptSLAM code or ORB-SLAM3 code. But it causes build errors. Can someone please explain what is the usage of the "-1" how to fix the errors. I really appreciate your help!

a. Download the EuRoC V102 sequence.

Can I run the RGBD dataset with this code? I see the monocular mode tested in the paper.