DSO安装编译报错：“error: ‘CV_LOAD_IMAGE_GRAYSCALE’ was not declared in this scope”

测试环境:Jetson Xavier NX+ Jetpack4.4 + Ubuntu 1804 + ROS Melodic + opencv4.1.1

错误提示

[ 56%] Building CXX object CMakeFiles/dso.dir/src/OptimizationBackend/EnergyFunctional.cpp.o

[ 60%] Building CXX object CMakeFiles/dso.dir/src/util/globalCalib.cpp.o

[ 64%] Building CXX object CMakeFiles/dso.dir/src/FullSystem/HessianBlocks.cpp.o

[ 68%] Building CXX object CMakeFiles/dso.dir/src/util/settings.cpp.o

[ 72%] Building CXX object CMakeFiles/dso.dir/src/util/Undistort.cpp.o

[ 76%] Building CXX object CMakeFiles/dso.dir/src/IOWrapper/OpenCV/ImageRW_OpenCV.cpp.o

[ 80%] Building CXX object CMakeFiles/dso.dir/src/IOWrapper/Pangolin/KeyFrameDisplay.cpp.o

[ 84%] Building CXX object CMakeFiles/dso.dir/src/IOWrapper/OpenCV/ImageDisplay_OpenCV.cpp.o

[ 88%] Building CXX object CMakeFiles/dso.dir/src/IOWrapper/Pangolin/PangolinDSOViewer.cpp.o

/home/ubuntu/slam/dso/src/IOWrapper/OpenCV/ImageRW_OpenCV.cpp: In function ‘dso::MinimalImageB* dso::IOWrap::readImageBW_8U(std::__cxx11::string)’:

/home/ubuntu/slam/dso/src/IOWrapper/OpenCV/ImageRW_OpenCV.cpp:37:35: error: ‘CV_LOAD_IMAGE_GRAYSCALE’ was not declared in this scope

  cv::Mat m = cv::imread(filename, CV_LOAD_IMAGE_GRAYSCALE);

                                   ^~~~~~~~~~~~~~~~~~~~~~~

/home/ubuntu/slam/dso/src/IOWrapper/OpenCV/ImageRW_OpenCV.cpp: In function ‘dso::MinimalImageB3* dso::IOWrap::readImageRGB_8U(std::__cxx11::string)’:

/home/ubuntu/slam/dso/src/IOWrapper/OpenCV/ImageRW_OpenCV.cpp:55:35: error: ‘CV_LOAD_IMAGE_COLOR’ was not declared in this scope

  cv::Mat m = cv::imread(filename, CV_LOAD_IMAGE_COLOR);

                                   ^~~~~~~~~~~~~~~~~~~

/home/ubuntu/slam/dso/src/IOWrapper/OpenCV/ImageRW_OpenCV.cpp:55:35: note: suggested alternative: ‘CV_HAL_DFT_STAGE_COLS’

  cv::Mat m = cv::imread(filename, CV_LOAD_IMAGE_COLOR);

                                   ^~~~~~~~~~~~~~~~~~~

                                   CV_HAL_DFT_STAGE_COLS

/home/ubuntu/slam/dso/src/IOWrapper/OpenCV/ImageRW_OpenCV.cpp: In function ‘dso::MinimalImage<short unsigned int>* dso::IOWrap::readImageBW_16U(std::__cxx11::string)’:

/home/ubuntu/slam/dso/src/IOWrapper/OpenCV/ImageRW_OpenCV.cpp:73:35: error: ‘CV_LOAD_IMAGE_UNCHANGED’ was not declared in this scope

  cv::Mat m = cv::imread(filename, CV_LOAD_IMAGE_UNCHANGED);

                                   ^~~~~~~~~~~~~~~~~~~~~~~

/home/ubuntu/slam/dso/src/IOWrapper/OpenCV/ImageRW_OpenCV.cpp: In function ‘dso::MinimalImageB* dso::IOWrap::readStreamBW_8U(char*, int)’:

/home/ubuntu/slam/dso/src/IOWrapper/OpenCV/ImageRW_OpenCV.cpp:91:60: error: ‘CV_LOAD_IMAGE_GRAYSCALE’ was not declared in this scope

  cv::Mat m = cv::imdecode(cv::Mat(numBytes,1,CV_8U, data), CV_LOAD_IMAGE_GRAYSCALE);

                                                            ^~~~~~~~~~~~~~~~~~~~~~~

CMakeFiles/dso.dir/build.make:518: recipe for target 'CMakeFiles/dso.dir/src/IOWrapper/OpenCV/ImageRW_OpenCV.cpp.o' failed

make[2]: *** [CMakeFiles/dso.dir/src/IOWrapper/OpenCV/ImageRW_OpenCV.cpp.o] Error 1

make[2]: *** Waiting for unfinished jobs....

c++: internal compiler error: Killed (program cc1plus)

Please submit a full bug report,

with preprocessed source if appropriate.

See <file:///usr/share/doc/gcc-7/README.Bugs> for instructions.

CMakeFiles/dso.dir/build.make:326: recipe for target 'CMakeFiles/dso.dir/src/OptimizationBackend/EnergyFunctional.cpp.o' failed

make[2]: *** [CMakeFiles/dso.dir/src/OptimizationBackend/EnergyFunctional.cpp.o] Error 4

In file included from /usr/include/eigen3/Eigen/Core:349:0,

                 from /home/ubuntu/slam/Pangolin/include/pangolin/display/opengl_render_state.h:40,

                 from /home/ubuntu/slam/Pangolin/include/pangolin/display/viewport.h:31,

                 from /home/ubuntu/slam/Pangolin/include/pangolin/gl/gl.h:30,

                 from /home/ubuntu/slam/Pangolin/include/pangolin/pangolin.h:33,

                 from /home/ubuntu/slam/dso/src/IOWrapper/Pangolin/PangolinDSOViewer.h:26,

                 from /home/ubuntu/slam/dso/src/IOWrapper/Pangolin/PangolinDSOViewer.cpp:26:

In function ‘void* Eigen::internal::aligned_malloc(std::size_t)’,

    inlined from ‘T* Eigen::aligned_allocator<T>::allocate(Eigen::aligned_allocator<T>::size_type, const void*) [with T = Eigen::Matrix<float, 3, 1>]’ at /usr/include/eigen3/Eigen/src/Core/util/Memory.h:742:76,

    inlined from ‘static std::allocator_traits<_Alloc>::pointer std::allocator_traits<_Alloc>::allocate(_Alloc&, std::allocator_traits<_Alloc>::size_type) [with _Alloc = Eigen::aligned_allocator<Eigen::Matrix<float, 3, 1> >]’ at /usr/include/c++/7/bits/alloc_traits.h:301:32,

    inlined from ‘std::_Vector_base<_Tp, _Alloc>::pointer std::_Vector_base<_Tp, _Alloc>::_M_allocate(std::size_t) [with _Tp = Eigen::Matrix<float, 3, 1>; _Alloc = Eigen::aligned_allocator<Eigen::Matrix<float, 3, 1> >]’ at /usr/include/c++/7/bits/stl_vector.h:172:18,

    inlined from ‘void std::vector<_Tp, _Alloc>::_M_realloc_insert(std::vector<_Tp, _Alloc>::iterator, _Args&& ...) [with _Args = {Eigen::Matrix<float, 3, 1, 0, 3, 1>}; _Tp = Eigen::Matrix<float, 3, 1>; _Alloc = Eigen::aligned_allocator<Eigen::Matrix<float, 3, 1> >]’ at /usr/include/c++/7/bits/vector.tcc:406:15:

/usr/include/eigen3/Eigen/src/Core/util/Memory.h:159:12: warning: argument 1 value ‘18446744073709551612’ exceeds maximum object size 9223372036854775807 [-Walloc-size-larger-than=]

     result = std::malloc(size);

     ~~~~~~~^~~~~~~~~~~~~~~~~~~

In file included from /usr/include/c++/7/cstdlib:75:0,

                 from /usr/include/c++/7/ext/string_conversions.h:41,

                 from /usr/include/c++/7/bits/basic_string.h:6361,

                 from /usr/include/c++/7/string:52,

                 from /usr/include/c++/7/bits/locale_classes.h:40,

                 from /usr/include/c++/7/bits/ios_base.h:41,

                 from /usr/include/c++/7/ios:42,

                 from /usr/include/c++/7/istream:38,

                 from /usr/include/c++/7/sstream:38,

                 from /home/ubuntu/slam/Pangolin/include/pangolin/utils/format_string.h:30,

                 from /home/ubuntu/slam/Pangolin/include/pangolin/utils/assert.h:31,

                 from /home/ubuntu/slam/Pangolin/include/pangolin/platform.h:80,

                 from /home/ubuntu/slam/Pangolin/include/pangolin/pangolin.h:30,

                 from /home/ubuntu/slam/dso/src/IOWrapper/Pangolin/PangolinDSOViewer.h:26,

                 from /home/ubuntu/slam/dso/src/IOWrapper/Pangolin/PangolinDSOViewer.cpp:26:

/usr/include/stdlib.h: In member function ‘void std::vector<_Tp, _Alloc>::_M_realloc_insert(std::vector<_Tp, _Alloc>::iterator, _Args&& ...) [with _Args = {Eigen::Matrix<float, 3, 1, 0, 3, 1>}; _Tp = Eigen::Matrix<float, 3, 1>; _Alloc = Eigen::aligned_allocator<Eigen::Matrix<float, 3, 1> >]’:

/usr/include/stdlib.h:539:14: note: in a call to allocation function ‘void* malloc(size_t)’ declared here

extern void *malloc (size_t __size) __THROW __attribute_malloc__ __wur;

              ^~~~~~

In file included from /usr/include/eigen3/Eigen/Core:349:0,

                 from /home/ubuntu/slam/Pangolin/include/pangolin/display/opengl_render_state.h:40,

                 from /home/ubuntu/slam/Pangolin/include/pangolin/display/viewport.h:31,

                 from /home/ubuntu/slam/Pangolin/include/pangolin/gl/gl.h:30,

                 from /home/ubuntu/slam/Pangolin/include/pangolin/pangolin.h:33,

                 from /home/ubuntu/slam/dso/src/IOWrapper/Pangolin/PangolinDSOViewer.h:26,

                 from /home/ubuntu/slam/dso/src/IOWrapper/Pangolin/PangolinDSOViewer.cpp:26:

In function ‘void* Eigen::internal::aligned_malloc(std::size_t)’,

    inlined from ‘T* Eigen::aligned_allocator<T>::allocate(Eigen::aligned_allocator<T>::size_type, const void*) [with T = Eigen::Matrix<float, 3, 1>]’ at /usr/include/eigen3/Eigen/src/Core/util/Memory.h:742:76,

    inlined from ‘static std::allocator_traits<_Alloc>::pointer std::allocator_traits<_Alloc>::allocate(_Alloc&, std::allocator_traits<_Alloc>::size_type) [with _Alloc = Eigen::aligned_allocator<Eigen::Matrix<float, 3, 1> >]’ at /usr/include/c++/7/bits/alloc_traits.h:301:32,

    inlined from ‘std::_Vector_base<_Tp, _Alloc>::pointer std::_Vector_base<_Tp, _Alloc>::_M_allocate(std::size_t) [with _Tp = Eigen::Matrix<float, 3, 1>; _Alloc = Eigen::aligned_allocator<Eigen::Matrix<float, 3, 1> >]’ at /usr/include/c++/7/bits/stl_vector.h:172:18,

    inlined from ‘void std::vector<_Tp, _Alloc>::_M_realloc_insert(std::vector<_Tp, _Alloc>::iterator, _Args&& ...) [with _Args = {Eigen::Matrix<float, 3, 1, 0, 3, 1>}; _Tp = Eigen::Matrix<float, 3, 1>; _Alloc = Eigen::aligned_allocator<Eigen::Matrix<float, 3, 1> >]’ at /usr/include/c++/7/bits/vector.tcc:406:15:

/usr/include/eigen3/Eigen/src/Core/util/Memory.h:159:12: warning: argument 1 value ‘18446744073709551612’ exceeds maximum object size 9223372036854775807 [-Walloc-size-larger-than=]

     result = std::malloc(size);

     ~~~~~~~^~~~~~~~~~~~~~~~~~~

In file included from /usr/include/c++/7/cstdlib:75:0,

                 from /usr/include/c++/7/ext/string_conversions.h:41,

                 from /usr/include/c++/7/bits/basic_string.h:6361,

                 from /usr/include/c++/7/string:52,

                 from /usr/include/c++/7/bits/locale_classes.h:40,

                 from /usr/include/c++/7/bits/ios_base.h:41,

                 from /usr/include/c++/7/ios:42,

                 from /usr/include/c++/7/istream:38,

                 from /usr/include/c++/7/sstream:38,

                 from /home/ubuntu/slam/Pangolin/include/pangolin/utils/format_string.h:30,

                 from /home/ubuntu/slam/Pangolin/include/pangolin/utils/assert.h:31,

                 from /home/ubuntu/slam/Pangolin/include/pangolin/platform.h:80,

                 from /home/ubuntu/slam/Pangolin/include/pangolin/pangolin.h:30,

                 from /home/ubuntu/slam/dso/src/IOWrapper/Pangolin/PangolinDSOViewer.h:26,

                 from /home/ubuntu/slam/dso/src/IOWrapper/Pangolin/PangolinDSOViewer.cpp:26:

/usr/include/stdlib.h: In member function ‘void std::vector<_Tp, _Alloc>::_M_realloc_insert(std::vector<_Tp, _Alloc>::iterator, _Args&& ...) [with _Args = {Eigen::Matrix<float, 3, 1, 0, 3, 1>}; _Tp = Eigen::Matrix<float, 3, 1>; _Alloc = Eigen::aligned_allocator<Eigen::Matrix<float, 3, 1> >]’:

/usr/include/stdlib.h:539:14: note: in a call to allocation function ‘void* malloc(size_t)’ declared here

extern void *malloc (size_t __size) __THROW __attribute_malloc__ __wur;

              ^~~~~~

CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/dso.dir/all' failed

make[1]: *** [CMakeFiles/dso.dir/all] Error 2

Makefile:83: recipe for target 'all' failed

make: *** [all] Error 2

1 个回复

lalala

解决方法

问题原因是opencv4不再使用旧的CV_LOAD_IMAGE_GRAYSCALE等几个参数，需要修改为其对应的参数

$ vim /home/ubuntu/slam/dso/src/IOWrapper/OpenCV/ImageRW_OpenCV.cpp



cv::Mat m = cv::imread(filename, CV_LOAD_IMAGE_GRAYSCALE);

改为

cv::Mat m = cv::imread(filename, cv::IMREAD_GRAYSCALE);



cv::Mat m = cv::imread(filename, CV_LOAD_IMAGE_COLOR);

改为

cv::Mat m = cv::imread(filename, cv::IMREAD_COLOR);



cv::Mat m = cv::imread(filename, CV_LOAD_IMAGE_UNCHANGED);

改为

cv::Mat m = cv::imread(filename, cv::IMREAD_UNCHANGED);

参考资料

https://github.com/JakobEngel/dso/pull/145/files#diff-279b4b50381277627b653b717a2eb1f1R40

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DSO安装编译报错：“error: ‘CV_LOAD_IMAGE_GRAYSCALE’ was not declared in this scope”

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DSO安装编译报错：“error: ‘CV_LOAD_IMAGE_GRAYSCALE’ was not declared in this scope”

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