hi
i have author error
now i'm trying to run algorithm with d415 camera
in ubuntu 20.04
opencv == 4.5.2
ros= noetic

first i run roscore

then in terminal 2 i run roslaunch realsense2_camera rs_rgbd.launch

then i run roslaunch orbslam2_ros run_rgbd.launch

but i have this error

roslaunch orbslam2_ros run_rgbd.launch
... logging to /home/ai/.ros/log/05f1d352-f6f8-11ec-9320-dbb172fd40b3/roslaunch-ai-25803.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ai:33741/

SUMMARY

PARAMETERS

• /orbslam2_rgbd/load_map: False
• /orbslam2_rgbd/localize_only: False
• /orbslam2_rgbd/map_file: map.bin
• /orbslam2_rgbd/publish_pointcloud: True
• /orbslam2_rgbd/publish_pose: True
• /orbslam2_rgbd/reset_map: False
• /rosdistro: noetic
• /rosversion: 1.15.14

NODES
/
orbslam2_rgbd (orbslam2_ros/RGBD)

ROS_MASTER_URI=http://localhost:11311

process[orbslam2_rgbd-1]: started with pid [25832]

ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, 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: RGB-D

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

Camera Parameters:

• fx: 617.216
• fy: 616.526
• cx: 332.224
• cy: 238.905
• k1: 0
• k2: 0
• p1: 0
• p2: 0
• fps: 30
• color order: RGB (ignored if grayscale)

ORB Extractor Parameters:

• Number of Features: 1000
• Scale Levels: 8
• Scale Factor: 1.2
• Initial Fast Threshold: 20
• Minimum Fast Threshold: 7

Depth Threshold (Close/Far Points): 2.2
[orbslam2_rgbd-1] process has died [pid 25832, exit code -11, cmd /home/ai/catkin_ws5/src/orb_slam2_cg/platforms/ros_wrapper/devel/lib/orbslam2_ros/RGBD /home/ai/catkin_ws5/src/orb_slam2_cg/Vocabulary/ORBvoc.txt /home/ai/catkin_ws5/src/orb_slam2_cg/platforms/app/RGB-D/Asus.yaml /camera/rgb/image_raw:=/camera/rgb/image_color /camera/depth_registered/image_raw:=/camera/depth/image __name:=orbslam2_rgbd __log:=/home/ai/.ros/log/05f1d352-f6f8-11ec-9320-dbb172fd40b3/orbslam2_rgbd-1.log].
log file: /home/ai/.ros/log/05f1d352-f6f8-11ec-9320-dbb172fd40b3/orbslam2_rgbd-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

i changed yaml file to
%YAML:1.0

#--------------------------------------------------------------------------------------------

Camera Parameters. Adjust them!

#--------------------------------------------------------------------------------------------
Camera.type: "PinHole"

Camera calibration and distortion parameters (OpenCV)

Camera.fx: 617.2155151367188
Camera.fy: 616.5257568359375
Camera.cx: 332.2236633300781
Camera.cy: 238.90542602539062

Camera.k1: 0.0
Camera.k2: 0.0
Camera.p1: 0.0
Camera.p2: 0.0

Camera.width: 1280
Camera.height: 720

#Camera frames per second
Camera.fps: 30.0

#IR projector baseline times fx (aprox.)
Camera.bf: 33.9468533

#Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1

#Close/Far threshold. Baseline times.
ThDepth: 40.0

#Deptmap values factor，将深度像素值转化为实际距离，原来单位是 mm，转化成 m
DepthMapFactor: 1000.0

#ORB Parameters
#--------------------------------------------------------------------------------------------

#ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1000

#ORB Extractor: Scale factor between levels in the scale pyramid
ORBextractor.scaleFactor: 1.2

#ORB Extractor: Number of levels in the scale pyramid
ORBextractor.nLevels: 8

#ORB Extractor: Fast threshold
#Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
#Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
#You can lower these values if your images have low contrast
ORBextractor.iniThFAST: 20
ORBextractor.minThFAST: 7

#--------------------------------------------------------------------------------------------
#Viewer Parameters
#--------------------------------------------------------------------------------------------
Viewer.KeyFrameSize: 0.05
Viewer.KeyFrameLineWidth: 1
Viewer.GraphLineWidth: 0.9
Viewer.PointSize:2
Viewer.CameraSize: 0.08
Viewer.CameraLineWidth: 3
Viewer.ViewpointX: 0
Viewer.ViewpointY: -0.7
Viewer.ViewpointZ: -1.8
Viewer.ViewpointF: 500

it work with ORB-SLAM3
and i have anthor orb-slam2-ros version from this link |
https://github.com/appliedAI-Initiative/orb_slam_2_ros
and the mono work with d415 by this command

roslaunch orb_slam2_ros orb_slam2_d435_mono.launch

...................
this video to how the error happened
https://drive.google.com/file/d/1cIZ7xsSqeDcETgA01QYVipBXra5cXgdE/view?usp=sharing

你好，我在Ubuntu18.04下手动下载编译opencv3.2.0并且把CMakeLists.txt文件的opencv都指定了路径，最终编译到96%报错。

/home/july/Project/Muti_KF_vio/orb_slam2_cg-ubuntu1804/orbslam2/lib/liborbslam2_core.so: undefined reference to `cv::line_descriptor::BinaryDescriptor::createBinaryDescriptor()'

/home/july/Project/Muti_KF_vio/orb_slam2_cg-ubuntu1804/orbslam2/lib/liborbslam2_core.so: undefined reference to `cv::line_descriptor::BinaryDescriptorMatcher::match(cv::Mat const&, cv::Mat const&, std::vector<cv::DMatch, std::allocator<cv::DMatch> >&, cv::Mat const&) const'

/home/july/Project/Muti_KF_vio/orb_slam2_cg-ubuntu1804/orbslam2/lib/liborbslam2_core.so: undefined reference to `cv::line_descriptor::BinaryDescriptorMatcher::createBinaryDescriptorMatcher()'

collect2: error: ld returned 1 exit status

orbslam2_ros/CMakeFiles/MonoLine.dir/build.make:181: recipe for target '/home/july/Project/Muti_KF_vio/orb_slam2_cg-

ubuntu1804/platforms/ros_wrapper/devel/lib/orbslam2_ros/MonoLine' failed

make[2]: *** [/home/july/Project/Muti_KF_vio/orb_slam2_cg-ubuntu1804/platforms/ros_wrapper/devel/lib/orbslam2_ros/MonoLine] Error 1

CMakeFiles/Makefile2:1057: recipe for target 'orbslam2_ros/CMakeFiles/MonoLine.dir/all' failed

i'm trying to install
orb_slam2_cg on fresh Ubuntu
and i have this error
ai@ai:~/orb_slam2_cg/platforms/ros_wrapper$ catkin_make -j1
Base path: /home/ai/orb_slam2_cg/platforms/ros_wrapper
Source space: /home/ai/orb_slam2_cg/platforms/ros_wrapper/src
Build space: /home/ai/orb_slam2_cg/platforms/ros_wrapper/build
Devel space: /home/ai/orb_slam2_cg/platforms/ros_wrapper/devel
Install space: /home/ai/orb_slam2_cg/platforms/ros_wrapper/install

Running command: "cmake /home/ai/orb_slam2_cg/platforms/ros_wrapper/src -DCATKIN_DEVEL_PREFIX=/home/ai/orb_slam2_cg/platforms/ros_wrapper/devel -DCMAKE_INSTALL_PREFIX=/home/ai/orb_slam2_cg/platforms/ros_wrapper/install -G Unix Makefiles" in "/home/ai/orb_slam2_cg/platforms/ros_wrapper/build"

-- Using CATKIN_DEVEL_PREFIX: /home/ai/orb_slam2_cg/platforms/ros_wrapper/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/noetic
-- This workspace overlays: /opt/ros/noetic
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3")
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Using Debian Python package layout
-- Using empy: /usr/lib/python3/dist-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/ai/orb_slam2_cg/platforms/ros_wrapper/build/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python3 (found version "3.8.10")
-- Using Python nosetests: /usr/bin/nosetests3
-- catkin 0.8.10
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 1 packages in topological order:
-- ~~ - orbslam2_ros
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'orbslam2_ros'
-- ==> add_subdirectory(orbslam2_ros)
CMake Error at /home/ai/orb_slam2_cg/orbslam2/CMakeLists.txt:60 (find_package):
By not providing "FindDBoW2.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "DBoW2", but
CMake did not find one.

Could not find a package configuration file provided by "DBoW2" with any of
the following names:

DBoW2Config.cmake
dbow2-config.cmake

Add the installation prefix of "DBoW2" to CMAKE_PREFIX_PATH or set
"DBoW2_DIR" to a directory containing one of the above files. If "DBoW2"
provides a separate development package or SDK, be sure it has been
installed.

-- Configuring incomplete, errors occurred!
See also "/home/ai/orb_slam2_cg/platforms/ros_wrapper/build/CMakeFiles/CMakeOutput.log".
See also "/home/ai/orb_slam2_cg/platforms/ros_wrapper/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

i try to download and build DBoW2 but still not work
i put DBoW2 directory in /home/ai/orb_slam2_cg/Thirdparty/DBoW2
and libDBoW2.so in /home/ai/orb_slam2_cg/Thirdparty/DBoW2/lib
i try change CMakeLists.txt:60 to >>
find_package(DBoW2 REQUIRED)
list(APPEND LIBS ${PROJECT_SOURCE_DIR}/home/ai/orb_slam2_cg/Thirdparty/DBoW2/lib/libDBoW2.so)
but still not work
thank's