ppaa1135 / orb_slam2-d435 Goto Github PK

while building ORB-SLAM2,

error

/opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1: undefined reference to 'TIFFReadRGBAStrip@LIBTIFF_4.0'

will occur, where the reason is the conflict between ros-opencv and opencv installed by user themselves.
Therefore, to solve this prob you need to locate the tiff lib firstly and them add the path into the ORB-SLAM2/CMakeLists.txt

locate the tiff-lib

ldd /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1

you will find

libtiff.so.5 => /usr/lib/x86_64-linux-gnu/libtiff.so.5 (0x00007f81bc0e7000)

then add this into CMakeLists.txt

target_link_libraries(${PROJECT_NAME}_lib
...
/usr/lib/x86_64-linux-gnu/libtiff.so.5
)

remember add this path before the ${OpenCV_LIBS}