ORB-SLAM3编译问题 recipe for target ‘CMakeFiles/ORB_SLAM3.dir/src/LocalMapping.cc.o‘ failed

编译 ORBSLAM3 时遇到的报错，没有其他提示。ubuntu18.04

CMakeFiles/ORB_SLAM3.dir/build.make:110: recipe for target 'CMakeFiles/ORB_SLAM3.dir/src/LocalMapping.cc.o' failed
make[2]: *** [CMakeFiles/ORB_SLAM3.dir/src/LocalMapping.cc.o] Error 1
CMakeFiles/Makefile2:289: recipe for target 'CMakeFiles/ORB_SLAM3.dir/all' failed
make[1]: *** [CMakeFiles/ORB_SLAM3.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

解决方法：

添加以下代码到ORB_SLAM3-master/include/CameraModels/KannalaBrandt8.h 

namespace cv 
{ 
template<typename _Tp, int m, int n> static inline Matx<_Tp, m, n> operator / (const Matx<_Tp, m, n>& a, float alpha) 
{
 return Matx<_Tp, m, n>(a, 1.f / alpha, Matx_ScaleOp()); 
} 
}

 如下图

 另外编译时容易卡死，build.sh里make后去掉-j4 -j等多线程选项