OpenCV non-free functionality (SURF) not built in 解决方法

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

2、更改rgbdslam_v2包下的CMakeLists.txt文件

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；