安装程序

参考Ubuntu 安装
参考使用Indemind双目模组跑ORB_SLAM3

安装opencv3.4.3

[compiler] sudo apt-get install build-essential
[required] sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
[optional] sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev

# 直接从opencv网站下载
$ git clone https://github.com/opencv/opencv.git
$ cd opencv/
$ git checkout tags/3.4.３

$ mkdir build
$ cd build/

$ cmake \
-DCMAKE_BUILD_TYPE=RELEASE \
-DCMAKE_INSTALL_PREFIX=/usr/local \
\
-DWITH_CUDA=OFF \
\
-DBUILD_DOCS=OFF \
-DBUILD_EXAMPLES=OFF \
-DBUILD_TESTS=OFF \
-DBUILD_PERF_TESTS=OFF \
..

$ make -j4
$ sudo make install

安装protobuf

[required] sudo apt-get install autoconf automake libtool

 # git clone https://github.com/google/protobuf.git
 git clone https://gitee.com/nfengjing/protobuf.git
 cd protobuf
 git submodule update --init --recursive
 ./autogen.sh
 ./configure
 make
 make check
 sudo make install
 sudo ldconfig # refresh shared library cache.
 protoc --version # 若安装成功，将显示protoc版本

执行 “git submodule update --init --recursive” 之前，先修改 .gitmodules，把地址修改下

[submodule "third_party/benchmark"]
	path = third_party/benchmark
	url = https://gitee.com/zhang1021/benchmark.git
[submodule "third_party/googletest"]
	path = third_party/googletest
	url = https://gitee.com/extra-mirrors/googletest.git
	ignore = dirty

编译安装MNN了

# git clone https://github.com/alibaba/MNN.git
  git clone https://gitee.com/zeekim/MNN.git
 cd MNN
 ./schema/generate.sh
 mkdir build $$ cd build
 cmake ..
 make -j4
 sudo make install

安装完之后，还是报错

[ERROR] [1641920128.358859146]: Failed to load nodelet [/imsee/imsee_wrapper_node] of type [imsee/ROSWrapperNodelet] even after refreshing the cache: Failed to load library /home/xhb/ros/IMSEE-SDK/ros/devel/lib//libimsee_wrapper.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libopencv_calib3d3.so.3.3: cannot open shared object file: No such file or directory)
[ERROR] [1641920128.358941221]: The error before refreshing the cache was: Failed to load library /home/xhb/ros/IMSEE-SDK/ros/devel/lib//libimsee_wrapper.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libopencv_calib3d3.so.3.3: cannot open shared object file: No such file or directory)

由于我用环境是unbutu18.04，所以要把 IMSEE-SDK/lib/others/x64-opencv3.4.3/libindemind.so，复制到 IMSEE-SDK/lib/x86-64，替换一下文件
这时执行下面的语句，指定opencv3.4.3的库文件位置

echo "/home/xhb/soft/opencv-3.4.3/lib" >> /etc/ld.so.conf

在IMSEE-SDK目录运行程序，必须用管理员权限

sudo su 
root@xhblinux-sz:source ros/devel/setup.bash
root@xhblinux-sz:/home/xhb/ros/IMSEE-SDK# roslaunch imsee_ros_wrapper display.launch

所以这里使用的管理员的帐号，必须修改管理员下面的.bashrc ，在最下面添加

source /opt/ros/melodic/setup.bash
# OpenCV_DIR is the directory where your OpenCVConfig.cmake exists
export OpenCV_DIR=/home/xhb/soft/opencv-3.4.3/share/OpenCV:/home/xhb/soft/opencv-3.4.3
source /home/xhb/ros/IMSEE-SDK/ros/devel/setup.bash

把setup.bash 也加进去，就不用每次都导入了，在这里加上 export OpenCV_DIR ，好像也没用，但也加上
只有修改/etc/ld.so.conf 才有用。坑了我好久