Common library installation

One . DBoW2

github Of DBoW2 There is no substitute for ORBSLAM2 Internal library ,ORBSLAM2 More functions are implemented internally , Don't try again , Try the dynamic source code again .

         Why download this library , Because you want to write a ORBSLAM2, Who knows ,ORBSLAM2 The built-in word bag model is only applicable to DBoW2, It doesn't apply DBoW3, therefore , You have to introduce yourself DBoW2, Here we need to compare ORBSLAM2 Inside DBoW2 Of CMakeLists The file ！

1. Delivered first github Download address ：dorian3d/DBoW2: Enhanced hierarchical bag-of-word library for C++ (github.com)https://github.com/dorian3d/DBoW2

Here is github Of CMakeList file

Here is ORBSLAM2 Inside DBoW2 Of CMakeLists file

You can see orbslam2 Of dbow2 Code follows github There are some differences in

2. Start the formal migration

First , Transplantation should focus on ：

（1）add_library What files does the generated library contain

（2） What is the generated library name , Generated library type （ static state / share ）

（3） What libraries are linked to

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For （1） spot

ORBSLAM2 Include the following files

and github It contains the following documents

 

Can see The first point is different , So if the compilation goes wrong , Consider whether there is less DUtils The contents of the library

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For （2） spot

ORBSLAM2 Yes. DBoW2

github Yes. ${PROJECT_NAME}, and ${PROJECT_NAME} The value of is again DBoW2, So they are the same

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For （3） spot

ORBSLAM2 The link is as follows

The library type is SHARED

github There are links as follows

  The library type is SHARED

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From the overview , Only the first point is different , So if something goes wrong , The probability is due to the （1） A little less DUtils Library LED . 

3. Last but not least , Since you didn't choose to install this library , that ORBSLAM2 How to include header files ？

We all know that referencing a library involves the following two steps

（1） Contains the header file directory

（2） Link library files

orbslam2 It's cruel , It is directly quoted below