libopencv_core.so.4.5d shared library not found.

[SpaceSoarer90]

ROS Version: ros2 jazzy
Ubuntu Version: Ubuntu 24.04.1 LTS (noble)

when this command is run:
ros2 run ros2_orb_slam3 mono_node_cpp --ros-args -p
node_name_arg:=mono_slam_cpp

it says that libopencv_core.so.4.5d is not found, a library file that cannot be found in the system.

this is caused by the bundled shared library libDBoW2.so in ros2_orb_slam3/orb_slam3/Thirdparty/DBoW2/lib/

thus, it can be fixed by just rebuilding the shared library file with a modified CMakeLists.txt file:

i'm not sure what the variable is for the opencv4 include directory.

# ros2_orb_slam3/orb_slam3/Thirdparty/DBoW2/CMakeLists.txt
set (dbow2_ROOR_DIR "${PROJECT_SOURCE_DIR}")

set(HDRS_DBOW2
  ${dbow2_ROOR_DIR}/DBoW2/BowVector.h
  ${dbow2_ROOR_DIR}/DBoW2/FORB.h 
  ${dbow2_ROOR_DIR}/DBoW2/FClass.h       
  ${dbow2_ROOR_DIR}/DBoW2/FeatureVector.h
  ${dbow2_ROOR_DIR}/DBoW2/ScoringObject.h   
  ${dbow2_ROOR_DIR}/DBoW2/TemplatedVocabulary.h)
set(SRCS_DBOW2
  ${dbow2_ROOR_DIR}/DBoW2/BowVector.cpp
  ${dbow2_ROOR_DIR}/DBoW2/FORB.cpp      
  ${dbow2_ROOR_DIR}/DBoW2/FeatureVector.cpp
  ${dbow2_ROOR_DIR}/DBoW2/ScoringObject.cpp)

set(HDRS_DUTILS
  ${dbow2_ROOR_DIR}/DUtils/Random.h
  ${dbow2_ROOR_DIR}/DUtils/Timestamp.h)
set(SRCS_DUTILS
  ${dbow2_ROOR_DIR}/DUtils/Random.cpp
  ${dbow2_ROOR_DIR}/DUtils/Timestamp.cpp)

# set(LIBRARY_OUTPUT_PATH ${dbow2_ROOR_DIR}/lib)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${dbow2_ROOR_DIR}/lib)

include_directories("/usr/include/opencv4")
add_library(DBoW2 SHARED ${SRCS_DBOW2} ${SRCS_DUTILS})
target_link_libraries(DBoW2 ${OpenCV_LIBS})