ORB_SLAM3
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Published
20 hours ago •
UZ-SLAMLab
UZ-SLAMLab
error while loading shared libraries: libDBoW2.s
when i input this: rosrun ORB_SLAM3 RGBD ./Vocabulary/ORBvoc.txt ./Examples/ROS/ORB_SLAM3/D415.yaml
/home/mrw/catkin_orb3/src/ORB_SLAM3/Examples/ROS/ORB_SLAM3/RGBD: error while loading shared libraries: libDBoW2.so: cannot open shared object file: No such file or directory
i dont't know the method to solve this problem
same problem
my logs when I do ./build.sh
(game) shubham@Shubhams-MBP ORB_SLAM3 % ./build.sh
Configuring and building Thirdparty/DBoW2 ...
CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
Compatibility with CMake < 3.5 will be removed from a future version of
CMake.
Update the VERSION argument <min> value or use a ...<max> suffix to tell
CMake that the project does not need compatibility with older versions.
-- The C compiler identification is AppleClang 15.0.0.15000040
-- The CXX compiler identification is AppleClang 15.0.0.15000040
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/clang - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/clang++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Configuring done (0.4s)
CMake Warning (dev):
Policy CMP0042 is not set: MACOSX_RPATH is enabled by default. Run "cmake
--help-policy CMP0042" for policy details. Use the cmake_policy command to
set the policy and suppress this warning.
MACOSX_RPATH is not specified for the following targets:
DBoW2
This warning is for project developers. Use -Wno-dev to suppress it.
-- Generating done (0.0s)
-- Build files have been written to: /Users/shubham/Documents/workspace/robotperception/project/ORB_SLAM3/Thirdparty/DBoW2/build
[ 28%] Building CXX object CMakeFiles/DBoW2.dir/DBoW2/BowVector.cpp.o
[ 57%] Building CXX object CMakeFiles/DBoW2.dir/DBoW2/ScoringObject.cpp.o
[ 71%] Building CXX object CMakeFiles/DBoW2.dir/DBoW2/FORB.cpp.o
[ 71%] Building CXX object CMakeFiles/DBoW2.dir/DBoW2/FeatureVector.cpp.o
[ 71%] Building CXX object CMakeFiles/DBoW2.dir/DUtils/Timestamp.cpp.o
[ 85%] Building CXX object CMakeFiles/DBoW2.dir/DUtils/Random.cpp.o
clang: warning: argument unused during compilation: '-L/Users/shubham/Downloads/boost_1_83_0/stage/lib' [-Wunused-command-line-argument]
clang: warning: argument unused during compilation: '-L/Users/shubham/Downloads/boost_1_83_0/stage/lib' [-Wunused-command-line-argument]
clang: warning: argument unused during compilation: '-L/Users/shubham/Downloads/boost_1_83_0/stage/lib' [-Wunused-command-line-argument]
clang: warning: argument unused during compilation: '-L/Users/shubham/Downloads/boost_1_83_0/stage/lib' [-Wunused-command-line-argument]
clang: warning: argument unused during compilation: '-L/Users/shubham/Downloads/boost_1_83_0/stage/lib' [-Wunused-command-line-argument]
clang: warning: argument unused during compilation: '-L/Users/shubham/Downloads/boost_1_83_0/stage/lib' [-Wunused-command-line-argument]
/Users/shubham/Documents/workspace/robotperception/project/ORB_SLAM3/Thirdparty/DBoW2/DUtils/Timestamp.cpp:99:2: warning: 'sprintf' is deprecated: This function is provided for compatibility reasons only. Due to security concerns inherent in the design of sprintf(3), it is highly recommended that you use snprintf(3) instead. [-Wdeprecated-declarations]
sprintf(buf, "%.6lf", this->getFloatTime());
^
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX14.0.sdk/usr/include/stdio.h:180:1: note: 'sprintf' has been explicitly marked deprecated here
__deprecated_msg("This function is provided for compatibility reasons only. Due to security concerns inherent in the design of sprintf(3), it is highly recommended that you use snprintf(3) instead.")
^
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX14.0.sdk/usr/include/sys/cdefs.h:215:48: note: expanded from macro '__deprecated_msg'
#define __deprecated_msg(_msg) __attribute__((__deprecated__(_msg)))
^
1 warning generated.
[100%] Linking CXX shared library /Users/shubham/Documents/workspace/robotperception/project/ORB_SLAM3/Thirdparty/DBoW2/lib/libDBoW2.dylib
[100%] Built target DBoW2
Configuring and building Thirdparty/g2o ...
mkdir: build: File exists
CMake Deprecation Warning at CMakeLists.txt:1 (CMAKE_MINIMUM_REQUIRED):
Compatibility with CMake < 3.5 will be removed from a future version of
CMake.
Update the VERSION argument <min> value or use a ...<max> suffix to tell
CMake that the project does not need compatibility with older versions.
-- BUILD TYPE:Release
-- Compiling on Unix
-- Could NOT find OpenMP_C (missing: OpenMP_C_FLAGS OpenMP_C_LIB_NAMES)
-- Could NOT find OpenMP_CXX (missing: OpenMP_CXX_FLAGS OpenMP_CXX_LIB_NAMES)
-- Could NOT find OpenMP (missing: OpenMP_C_FOUND OpenMP_CXX_FOUND)
-- Configuring done (0.4s)
CMake Warning (dev):
Policy CMP0042 is not set: MACOSX_RPATH is enabled by default. Run "cmake
--help-policy CMP0042" for policy details. Use the cmake_policy command to
set the policy and suppress this warning.
MACOSX_RPATH is not specified for the following targets:
g2o
This warning is for project developers. Use -Wno-dev to suppress it.
-- Generating done (0.0s)
-- Build files have been written to: /Users/shubham/Documents/workspace/robotperception/project/ORB_SLAM3/Thirdparty/g2o/build
[100%] Built target g2o
Configuring and building Thirdparty/Sophus ...
mkdir: build: File exists
CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
Compatibility with CMake < 3.5 will be removed from a future version of
CMake.
Update the VERSION argument <min> value or use a ...<max> suffix to tell
CMake that the project does not need compatibility with older versions.
-- Configuring done (0.1s)
-- Generating done (0.0s)
-- Build files have been written to: /Users/shubham/Documents/workspace/robotperception/project/ORB_SLAM3/Thirdparty/Sophus/build
[ 8%] Built target test_geometry
[ 16%] Built target test_common
[ 25%] Built target test_se2
[ 33%] Built target test_sim2
[ 41%] Built target test_se3
[ 50%] Built target test_rxso2
[ 62%] Built target test_so3
[ 66%] Built target test_sim3
[ 75%] Built target test_velocities
[ 91%] Built target HelloSO3
[ 91%] Built target test_rxso3
[100%] Built target test_so2
Uncompress vocabulary ...
Configuring and building ORB_SLAM3 ...
mkdir: build: File exists
CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
Compatibility with CMake < 3.5 will be removed from a future version of
CMake.
Update the VERSION argument <min> value or use a ...<max> suffix to tell
CMake that the project does not need compatibility with older versions.
Build type: Release
-- Using flag -std=c++11.
OPENCV VERSION:
4.8.1
CMake Warning at CMakeLists.txt:43 (find_package):
By not providing "Findrealsense2.cmake" in CMAKE_MODULE_PATH this project
has asked CMake to find a package configuration file provided by
"realsense2", but CMake did not find one.
Could not find a package configuration file provided by "realsense2" with
any of the following names:
realsense2Config.cmake
realsense2-config.cmake
Add the installation prefix of "realsense2" to CMAKE_PREFIX_PATH or set
"realsense2_DIR" to a directory containing one of the above files. If
"realsense2" provides a separate development package or SDK, be sure it has
been installed.
CMake Deprecation Warning at Thirdparty/g2o/CMakeLists.txt:1 (CMAKE_MINIMUM_REQUIRED):
Compatibility with CMake < 3.5 will be removed from a future version of
CMake.
Update the VERSION argument <min> value or use a ...<max> suffix to tell
CMake that the project does not need compatibility with older versions.
-- BUILD TYPE:Release
-- Compiling on Unix
-- Could NOT find OpenMP_C (missing: OpenMP_C_FLAGS OpenMP_C_LIB_NAMES)
-- Could NOT find OpenMP_CXX (missing: OpenMP_CXX_FLAGS OpenMP_CXX_LIB_NAMES)
-- Could NOT find OpenMP (missing: OpenMP_C_FOUND OpenMP_CXX_FOUND)
-- Configuring done (0.5s)
CMake Warning (dev):
Policy CMP0042 is not set: MACOSX_RPATH is enabled by default. Run "cmake
--help-policy CMP0042" for policy details. Use the cmake_policy command to
set the policy and suppress this warning.
MACOSX_RPATH is not specified for the following targets:
ORB_SLAM3
g2o
This warning is for project developers. Use -Wno-dev to suppress it.
-- Generating done (0.1s)
-- Build files have been written to: /Users/shubham/Documents/workspace/robotperception/project/ORB_SLAM3/build
[ 29%] Built target g2o
make[2]: *** No rule to make target `/Users/shubham/Documents/workspace/robotperception/project/ORB_SLAM3/Thirdparty/DBoW2/lib/libDBoW2.so', needed by `/Users/shubham/Documents/workspace/robotperception/project/ORB_SLAM3/lib/libORB_SLAM3.dylib'. Stop.
make[1]: *** [CMakeFiles/ORB_SLAM3.dir/all] Error 2
make: *** [all] Error 2
(game) shubham@Shubhams-MBP ORB_SLAM3 %
I don't have that issue but did encounter it in other ROS packages. It's because your executable RGBD.so under ROS/ORB_SLAM3 can't find libDBoW2.so. Go to the ROS/ORB_SLAM3 folder and type:
ldd -r ./RGBD | grep DBoW
It should show something like
libDBoW2.so => <your folder>/ORB_SLAM3/Thirdparty/DBoW2/lib/libDBoW2.so (0x00007feae2efc000).
If it doesn't it means it can't find it or found DBoW2 elsewhere. I had this issue where it linked to DBoW2 from another ROS workspace because I had that workspace sourced in my bashrc when building the package. Make sure to only source setup.bash from /opt/ros and no other workspace and then build again (you should probably delete the build folder inside the ROS workspace before building again).
