前言:rgbd-slam包运行rgbdSLAM.launch添加SURF、SIFT特征点检测时出现OpenCV non-free functionality (SURF) not built in.错误
1、Ubuntu 安装 opencv-nonfree
sudo apt-get update sudo add-apt-repository --yes ppa:xqms/opencv-nonfree sudo apt-get update sudo apt-get install libopencv-nonfree-dev
1)打开CMakeLists.txt文件,利用Ctrl+f 查找NONFREE,把#add_definitions(-DCV_NONFREE)前面的#去掉,保存;
2)再次进入rgbdslam_v2包所在的空间,catkin_make编译,再roslaunchrgbdslam_v2 rgbdSLAM.launch,即可解决OpenCV non-free functionality (SURF) not built in 问题;