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源码安装vins-mono算法问题整理（ROS Melodic + opencv 4.1.1）

ROS相关 • lalala 发表了文章 • 0 个评论 • 8048 次浏览 • 2020-08-28 13:12 • 来自相关话题

测试环境：Jetson Xavier NX+ Jetpack4.4 + Ubuntu 1804 + ROS Melodic + opencv 4.1.1
 
问题一
 编译时报错 error: ‘CV_GRAY2RGB’ was not declared in this scope 等
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In constructor ‘camodocal::Chessboard::Chessboard(cv::Size, cv::Mat&)’:
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:20:38: error: ‘CV_GRAY2BGR’ was not declared in this scope
cv::cvtColor(image, mSketch, CV_GRAY2BGR);
^~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:26:37: error: ‘CV_BGR2GRAY’ was not declared in this scope
cv::cvtColor(image, mImage, CV_BGR2GRAY);
^~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In member function ‘bool camodocal::Chessboard::findChessboardCornersImproved(const cv::Mat&, const Size&, std::vector<cv::Point_<float> >&, int)’:
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:150:43: error: ‘CV_BGR2GRAY’ was not declared in this scope
cv::cvtColor(image, norm_img, CV_BGR2GRAY);
^~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:207:67: error: ‘CV_THRESH_BINARY’ was not declared in this scope
cv::threshold(img, thresh_img, thresh_level, 255, CV_THRESH_BINARY);
^~~~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In constructor ‘camodocal::Chessboard::Chessboard(cv::Size, cv::Mat&)’:
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:20:38: error: ‘CV_GRAY2BGR’ was not declared in this scope
cv::cvtColor(image, mSketch, CV_GRAY2BGR);
^~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:26:37: error: ‘CV_BGR2GRAY’ was not declared in this scope
cv::cvtColor(image, mImage, CV_BGR2GRAY);
^~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:215:57: error: ‘CV_SHAPE_CROSS’ was not declared in this scope
cv::Mat kernel1 = cv::getStructuringElement(CV_SHAPE_CROSS, cv::Size(3,3), cv::Point(1,1));
^~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In member function ‘bool camodocal::Chessboard::findChessboardCornersImproved(const cv::Mat&, const Size&, std::vector<cv::Point_<float> >&, int)’:
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:150:43: error: ‘CV_BGR2GRAY’ was not declared in this scope
cv::cvtColor(image, norm_img, CV_BGR2GRAY);
^~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:215:57: note: suggested alternative: ‘CV_WRAP_AS’
cv::Mat kernel1 = cv::getStructuringElement(CV_SHAPE_CROSS, cv::Size(3,3), cv::Point(1,1));
^~~~~~~~~~~~~~
CV_WRAP_AS
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:216:57: error: ‘CV_SHAPE_RECT’ was not declared in this scope
cv::Mat kernel2 = cv::getStructuringElement(CV_SHAPE_RECT, cv::Size(3,3), cv::Point(1,1));
^~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:320:43: error: ‘CV_TERMCRIT_EPS’ was not declared in this scope
cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
^~~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:207:67: error: ‘CV_THRESH_BINARY’ was not declared in this scope
cv::threshold(img, thresh_img, thresh_level, 255, CV_THRESH_BINARY);
^~~~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:320:61: error: ‘CV_TERMCRIT_ITER’ was not declared in this scope
cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
^~~~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:215:57: error: ‘CV_SHAPE_CROSS’ was not declared in this scope
cv::Mat kernel1 = cv::getStructuringElement(CV_SHAPE_CROSS, cv::Size(3,3), cv::Point(1,1));
^~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:215:57: note: suggested alternative: ‘CV_WRAP_AS’
cv::Mat kernel1 = cv::getStructuringElement(CV_SHAPE_CROSS, cv::Size(3,3), cv::Point(1,1));
^~~~~~~~~~~~~~
CV_WRAP_AS
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:216:57: error: ‘CV_SHAPE_RECT’ was not declared in this scope
cv::Mat kernel2 = cv::getStructuringElement(CV_SHAPE_RECT, cv::Size(3,3), cv::Point(1,1));
^~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:320:43: error: ‘CV_TERMCRIT_EPS’ was not declared in this scope
cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
^~~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In member function ‘void camodocal::Chessboard::generateQuads(std::vector<boost::shared_ptr<camodocal::ChessboardQuad> >&, cv::Mat&, int, int, bool)’:
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1175:50: error: ‘CV_RETR_CCOMP’ was not declared in this scope
cv::findContours(image, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
^~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:320:61: error: ‘CV_TERMCRIT_ITER’ was not declared in this scope
cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
^~~~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1175:65: error: ‘CV_CHAIN_APPROX_SIMPLE’ was not declared in this scope
cv::findContours(image, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
^~~~~~~~~~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In member function ‘void camodocal::Chessboard::generateQuads(std::vector<boost::shared_ptr<camodocal::ChessboardQuad> >&, cv::Mat&, int, int, bool)’:
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1175:50: error: ‘CV_RETR_CCOMP’ was not declared in this scope
cv::findContours(image, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
^~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1175:65: error: ‘CV_CHAIN_APPROX_SIMPLE’ was not declared in this scope
cv::findContours(image, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
^~~~~~~~~~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In member function ‘bool camodocal::Chessboard::checkChessboard(const cv::Mat&, cv::Size) const’:
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1586:72: error: ‘CV_THRESH_BINARY’ was not declared in this scope
cv::threshold(white, thresh, threshLevel + blackWhiteGap, 255, CV_THRESH_BINARY);
^~~~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1592:55: error: ‘CV_RETR_CCOMP’ was not declared in this scope
cv::findContours(thresh, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
^~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1592:70: error: ‘CV_CHAIN_APPROX_SIMPLE’ was not declared in this scope
cv::findContours(thresh, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
^~~~~~~~~~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In member function ‘bool camodocal::Chessboard::checkChessboard(const cv::Mat&, cv::Size) const’:
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1586:72: error: ‘CV_THRESH_BINARY’ was not declared in this scope
cv::threshold(white, thresh, threshLevel + blackWhiteGap, 255, CV_THRESH_BINARY);
^~~~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1597:56: error: ‘CV_THRESH_BINARY_INV’ was not declared in this scope
cv::threshold(black, thresh, threshLevel, 255, CV_THRESH_BINARY_INV);
^~~~~~~~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1592:55: error: ‘CV_RETR_CCOMP’ was not declared in this scope
cv::findContours(thresh, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
^~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1592:70: error: ‘CV_CHAIN_APPROX_SIMPLE’ was not declared in this scope
cv::findContours(thresh, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
^~~~~~~~~~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1597:56: error: ‘CV_THRESH_BINARY_INV’ was not declared in this scope
cv::threshold(black, thresh, threshLevel, 255, CV_THRESH_BINARY_INV);

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc: In member function ‘void camodocal::CameraCalibration::drawResults(std::vector<cv::Mat>&) const’:
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc:236:40: error: ‘CV_GRAY2RGB’ was not declared in this scope
cv::cvtColor(image, image, CV_GRAY2RGB);
^~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc:236:40: note: suggested alternative: ‘CV_GRAPH’
cv::cvtColor(image, image, CV_GRAY2RGB);
^~~~~~~~~~~
CV_GRAPH
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc:254:37: error: ‘CV_AA’ was not declared in this scope
5, green, 2, CV_AA, drawShiftBits);
^~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc:254:37: note: suggested alternative: ‘CV_AVX’
5, green, 2, CV_AA, drawShiftBits);
^~~~~
CV_AVX

解决方法
 
在报错文件上添加头文件 #include <opencv2/imgproc/imgproc_c.h>单独遇到CV_AA的报错时，也可以将 CV_AA 改为 cv::LINE_AA

问题二
 
编译时报错 error: ‘CV_CALIB_CB_ADAPTIVE_THRESH’ was not declared in this scope 、error: ‘CV_CALIB_CB_NORMALIZE_IMAGE’ was not declared in this scope、error: ‘CV_CALIB_CB_FILTER_QUADS’ was not declared in this scope 和 error: ‘CV_CALIB_CB_FAST_CHECK’ was not declared in this scope

解决方法
 
将CV_CALIB_CB_ADAPTIVE_THRESH、CV_CALIB_CB_NORMALIZE_IMAGE、CV_CALIB_CB_FILTER_QUADS和CV_CALIB_CB_FAST_CHECK修改为 cv::CALIB_CB_ADAPTIVE_THRESH 、 cv::CALIB_CB_NORMALIZE_IMAGE 、cv::CALIB_CB_FILTER_QUADS 和cv::CALIB_CB_FAST_CHECK
 
问题三
 
编译时报错 error: ‘CV_RGB2GRAY’ was not declared in this scope
/home/ubuntu/catkin_ws/src/VINS-Mono/pose_graph/src/ThirdParty/DVision/BRIEF.cpp:53:32: error: ‘CV_RGB2GRAY’ was not declared in this scope cv::cvtColor(image, aux, CV_RGB2GRAY);
^~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/pose_graph/src/ThirdParty/DVision/BRIEF.cpp:53:32: note: suggested alternative: ‘CV_RGB’ cv::cvtColor(image, aux, CV_RGB2GRAY);

解决方法
 
在报错文件上添加头文件 #include<opencv2/imgproc/types_c.h>

问题四
 
编译时遇到报错 error: ‘CV_FONT_HERSHEY_SIMPLEX’ was not declared in this scope
 
解决方法
 
将报错文件上的 CV_FONT_HERSHEY_SIMPLEX 参数改为 cv::FONT_HERSHEY_SIMPLEX 查看全部
测试环境：Jetson Xavier NX+ Jetpack4.4 + Ubuntu 1804 + ROS Melodic + opencv 4.1.1
 
问题一
  •  编译时报错 error: ‘CV_GRAY2RGB’ was not declared in this scope 等

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In constructor ‘camodocal::Chessboard::Chessboard(cv::Size, cv::Mat&)’:

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:20:38: error: ‘CV_GRAY2BGR’ was not declared in this scope

         cv::cvtColor(image, mSketch, CV_GRAY2BGR);

                                      ^~~~~~~~~~~

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:26:37: error: ‘CV_BGR2GRAY’ was not declared in this scope

         cv::cvtColor(image, mImage, CV_BGR2GRAY);

                                     ^~~~~~~~~~~

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In member function ‘bool camodocal::Chessboard::findChessboardCornersImproved(const cv::Mat&, const Size&, std::vector<cv::Point_<float> >&, int)’:

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:150:43: error: ‘CV_BGR2GRAY’ was not declared in this scope

             cv::cvtColor(image, norm_img, CV_BGR2GRAY);

                                           ^~~~~~~~~~~

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:207:67: error: ‘CV_THRESH_BINARY’ was not declared in this scope

                 cv::threshold(img, thresh_img, thresh_level, 255, CV_THRESH_BINARY);

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

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In constructor ‘camodocal::Chessboard::Chessboard(cv::Size, cv::Mat&)’:

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:20:38: error: ‘CV_GRAY2BGR’ was not declared in this scope

         cv::cvtColor(image, mSketch, CV_GRAY2BGR);

                                      ^~~~~~~~~~~

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:26:37: error: ‘CV_BGR2GRAY’ was not declared in this scope

         cv::cvtColor(image, mImage, CV_BGR2GRAY);

                                     ^~~~~~~~~~~

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:215:57: error: ‘CV_SHAPE_CROSS’ was not declared in this scope

             cv::Mat kernel1 = cv::getStructuringElement(CV_SHAPE_CROSS, cv::Size(3,3), cv::Point(1,1));

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

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In member function ‘bool camodocal::Chessboard::findChessboardCornersImproved(const cv::Mat&, const Size&, std::vector<cv::Point_<float> >&, int)’:

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:150:43: error: ‘CV_BGR2GRAY’ was not declared in this scope

             cv::cvtColor(image, norm_img, CV_BGR2GRAY);

                                           ^~~~~~~~~~~

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:215:57: note: suggested alternative: ‘CV_WRAP_AS’

             cv::Mat kernel1 = cv::getStructuringElement(CV_SHAPE_CROSS, cv::Size(3,3), cv::Point(1,1));

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

                                                         CV_WRAP_AS

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:216:57: error: ‘CV_SHAPE_RECT’ was not declared in this scope

             cv::Mat kernel2 = cv::getStructuringElement(CV_SHAPE_RECT, cv::Size(3,3), cv::Point(1,1));

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

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:320:43: error: ‘CV_TERMCRIT_EPS’ was not declared in this scope

                          cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));

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

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:207:67: error: ‘CV_THRESH_BINARY’ was not declared in this scope

                 cv::threshold(img, thresh_img, thresh_level, 255, CV_THRESH_BINARY);

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

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:320:61: error: ‘CV_TERMCRIT_ITER’ was not declared in this scope

                          cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));

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

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:215:57: error: ‘CV_SHAPE_CROSS’ was not declared in this scope

             cv::Mat kernel1 = cv::getStructuringElement(CV_SHAPE_CROSS, cv::Size(3,3), cv::Point(1,1));

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

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:215:57: note: suggested alternative: ‘CV_WRAP_AS’

             cv::Mat kernel1 = cv::getStructuringElement(CV_SHAPE_CROSS, cv::Size(3,3), cv::Point(1,1));

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

                                                         CV_WRAP_AS

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:216:57: error: ‘CV_SHAPE_RECT’ was not declared in this scope

             cv::Mat kernel2 = cv::getStructuringElement(CV_SHAPE_RECT, cv::Size(3,3), cv::Point(1,1));

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

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:320:43: error: ‘CV_TERMCRIT_EPS’ was not declared in this scope

                          cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));

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

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In member function ‘void camodocal::Chessboard::generateQuads(std::vector<boost::shared_ptr<camodocal::ChessboardQuad> >&, cv::Mat&, int, int, bool)’:

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1175:50: error: ‘CV_RETR_CCOMP’ was not declared in this scope

     cv::findContours(image, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);

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

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:320:61: error: ‘CV_TERMCRIT_ITER’ was not declared in this scope

                          cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));

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

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1175:65: error: ‘CV_CHAIN_APPROX_SIMPLE’ was not declared in this scope

     cv::findContours(image, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);

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

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In member function ‘void camodocal::Chessboard::generateQuads(std::vector<boost::shared_ptr<camodocal::ChessboardQuad> >&, cv::Mat&, int, int, bool)’:

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1175:50: error: ‘CV_RETR_CCOMP’ was not declared in this scope

     cv::findContours(image, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);

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

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1175:65: error: ‘CV_CHAIN_APPROX_SIMPLE’ was not declared in this scope

     cv::findContours(image, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);

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

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In member function ‘bool camodocal::Chessboard::checkChessboard(const cv::Mat&, cv::Size) const’:

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1586:72: error: ‘CV_THRESH_BINARY’ was not declared in this scope

         cv::threshold(white, thresh, threshLevel + blackWhiteGap, 255, CV_THRESH_BINARY);

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

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1592:55: error: ‘CV_RETR_CCOMP’ was not declared in this scope

         cv::findContours(thresh, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);

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

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1592:70: error: ‘CV_CHAIN_APPROX_SIMPLE’ was not declared in this scope

         cv::findContours(thresh, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);

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

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In member function ‘bool camodocal::Chessboard::checkChessboard(const cv::Mat&, cv::Size) const’:

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1586:72: error: ‘CV_THRESH_BINARY’ was not declared in this scope

         cv::threshold(white, thresh, threshLevel + blackWhiteGap, 255, CV_THRESH_BINARY);

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

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1597:56: error: ‘CV_THRESH_BINARY_INV’ was not declared in this scope

         cv::threshold(black, thresh, threshLevel, 255, CV_THRESH_BINARY_INV);

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

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1592:55: error: ‘CV_RETR_CCOMP’ was not declared in this scope

         cv::findContours(thresh, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);

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

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1592:70: error: ‘CV_CHAIN_APPROX_SIMPLE’ was not declared in this scope

         cv::findContours(thresh, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);

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

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1597:56: error: ‘CV_THRESH_BINARY_INV’ was not declared in this scope

         cv::threshold(black, thresh, threshLevel, 255, CV_THRESH_BINARY_INV);



/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc: In member function ‘void camodocal::CameraCalibration::drawResults(std::vector<cv::Mat>&) const’:

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc:236:40: error: ‘CV_GRAY2RGB’ was not declared in this scope

             cv::cvtColor(image, image, CV_GRAY2RGB);

                                        ^~~~~~~~~~~

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc:236:40: note: suggested alternative: ‘CV_GRAPH’

             cv::cvtColor(image, image, CV_GRAY2RGB);

                                        ^~~~~~~~~~~

                                        CV_GRAPH

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc:254:37: error: ‘CV_AA’ was not declared in this scope

                        5, green, 2, CV_AA, drawShiftBits);

                                     ^~~~~

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc:254:37: note: suggested alternative: ‘CV_AVX’

                        5, green, 2, CV_AA, drawShiftBits);

                                     ^~~~~

                                     CV_AVX

解决方法
 
  • 在报错文件上添加头文件 #include <opencv2/imgproc/imgproc_c.h>
  • 单独遇到CV_AA的报错时，也可以将 CV_AA 改为 cv::LINE_AA


问题二
 
  • 编译时报错 error: ‘CV_CALIB_CB_ADAPTIVE_THRESH’ was not declared in this scope 、error: ‘CV_CALIB_CB_NORMALIZE_IMAGE’ was not declared in this scope、error: ‘CV_CALIB_CB_FILTER_QUADS’ was not declared in this scope 和 error: ‘CV_CALIB_CB_FAST_CHECK’ was not declared in this scope


解决方法
 
  • 将CV_CALIB_CB_ADAPTIVE_THRESH、CV_CALIB_CB_NORMALIZE_IMAGE、CV_CALIB_CB_FILTER_QUADS和CV_CALIB_CB_FAST_CHECK修改为 cv::CALIB_CB_ADAPTIVE_THRESH 、 cv::CALIB_CB_NORMALIZE_IMAGE 、cv::CALIB_CB_FILTER_QUADS 和cv::CALIB_CB_FAST_CHECK

 
问题三
 
  • 编译时报错 error: ‘CV_RGB2GRAY’ was not declared in this scope

/home/ubuntu/catkin_ws/src/VINS-Mono/pose_graph/src/ThirdParty/DVision/BRIEF.cpp:53:32: error: ‘CV_RGB2GRAY’ was not declared in this scope cv::cvtColor(image, aux, CV_RGB2GRAY);

^~~~~~~~~~~ 

/home/ubuntu/catkin_ws/src/VINS-Mono/pose_graph/src/ThirdParty/DVision/BRIEF.cpp:53:32: note: suggested alternative: ‘CV_RGB’ cv::cvtColor(image, aux, CV_RGB2GRAY);


解决方法
 
  • 在报错文件上添加头文件 #include<opencv2/imgproc/types_c.h>


问题四
 
  • 编译时遇到报错 error: ‘CV_FONT_HERSHEY_SIMPLEX’ was not declared in this scope

 
解决方法
 
  • 将报错文件上的 CV_FONT_HERSHEY_SIMPLEX 参数改为 cv::FONT_HERSHEY_SIMPLEX

Ubuntu1804上源码安装cartographer问题整理

Linux系统相关 • lalala 发表了文章 • 0 个评论 • 6471 次浏览 • 2020-08-18 13:19 • 来自相关话题

说明
本文章整理了ubuntu1804上源码安装cartographer问题
 
问题一
测试环境:Jetson Xavier NX+ Jetpack4.4 +  Ubuntu 1804 + ROS Melodic 
 编译时出现缺少absl包
-- Found GMock: gmock_main;-lpthread  
CMake Error at CMakeLists.txt:32 (find_package):
  By not providing "Findabsl.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "absl", but
  CMake did not find one.


  Could not find a package configuration file provided by "absl" with any of
  the following names:


    abslConfig.cmake
    absl-config.cmake


  Add the installation prefix of "absl" to CMAKE_PREFIX_PATH or set
  "absl_DIR" to a directory containing one of the above files.  If "absl"
  provides a separate development package or SDK, be sure it has been
  installed.解决方法
在下载回来的cartographer上有安装absl的脚本
$ sudo apt-get install stow
$ sudo chmod +x ~/cartographer_ws/src/cartographer/scriptsinstall_abseil.sh
$ cd ~/cartographer_ws/src/cartographer/scripts
$ ./install_abseil.sh问题​二
测试环境:Jetson Xavier NX+ Jetpack4.4 +  Ubuntu 1804 + ROS Melodic 更新时遇到错误
ubuntu@ubuntu:~/cartographer_ws$ rosdep install --from-paths src --ignore-src --rosdistro=melodic -y -i
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
cartographer_turtlebot: Cannot locate rosdep definition for [turtlebot_bringup]解决方法
 
 https://wenda.ncnynl.com/question/116424 查看全部
说明
  • 本文章整理了ubuntu1804上源码安装cartographer问题

 
问题一
  • 测试环境:Jetson Xavier NX+ Jetpack4.4 +  Ubuntu 1804 + ROS Melodic 

  •  编译时出现缺少absl包

-- Found GMock: gmock_main;-lpthread  

CMake Error at CMakeLists.txt:32 (find_package):

  By not providing "Findabsl.cmake" in CMAKE_MODULE_PATH this project has

  asked CMake to find a package configuration file provided by "absl", but

  CMake did not find one.





  Could not find a package configuration file provided by "absl" with any of

  the following names:





    abslConfig.cmake

    absl-config.cmake





  Add the installation prefix of "absl" to CMAKE_PREFIX_PATH or set

  "absl_DIR" to a directory containing one of the above files.  If "absl"

  provides a separate development package or SDK, be sure it has been

  installed.
解决方法
  • 在下载回来的cartographer上有安装absl的脚本

$ sudo apt-get install stow

$ sudo chmod +x ~/cartographer_ws/src/cartographer/scriptsinstall_abseil.sh

$ cd ~/cartographer_ws/src/cartographer/scripts

$ ./install_abseil.sh
问题​二
  • 测试环境:Jetson Xavier NX+ Jetpack4.4 +  Ubuntu 1804 + ROS Melodic 
  • 更新时遇到错误

ubuntu@ubuntu:~/cartographer_ws$ rosdep install --from-paths src --ignore-src --rosdistro=melodic -y -i

ERROR: the following packages/stacks could not have their rosdep keys resolved

to system dependencies:

cartographer_turtlebot: Cannot locate rosdep definition for [turtlebot_bringup]
解决方法
 

虚拟机问题整理

Linux系统相关 • lalala 发表了文章 • 0 个评论 • 4990 次浏览 • 2020-04-21 11:41 • 来自相关话题

问题一

测试环境； win10

启动虚拟机报错
 
未能对鼠标-键盘-屏幕控制进行初始化。
 
参考方法
No9-【原】解决VMware虚拟机中无法使用键盘的故障

问题二

测试环境； win10

启动虚拟机报错
 传输 (VMDB)错误 -14: Pipe connection has been broken。
transport (vmdb) error -14: pipe connection has been broken.

原因可能是启动了Hyper-V
 
参考方法

Windows 10 RS4 无法完全关闭Hyper-V导致Virtual Box 虚拟机无法启动

Windows 10 下如何彻底关闭 Hyper-V 服务？
 
VMWare Workstation cannot run on Windows 10 after recent update to Windows 10 查看全部
问题一

测试环境； win10

启动虚拟机报错
 
未能对鼠标-键盘-屏幕控制进行初始化。

 
  • 参考方法

No9-【原】解决VMware虚拟机中无法使用键盘的故障

问题二

测试环境； win10

启动虚拟机报错
 
传输 (VMDB)错误 -14: Pipe connection has been broken。

transport (vmdb) error -14: pipe connection has been broken.


原因可能是启动了Hyper-V
 
  • 参考方法


Windows 10 RS4 无法完全关闭Hyper-V导致Virtual Box 虚拟机无法启动

Windows 10 下如何彻底关闭 Hyper-V 服务？
 
VMWare Workstation cannot run on Windows 10 after recent update to Windows 10

shell脚本无法使用，bash: roslaunch: command not found

回复

Linux系统相关 • ddwy 发起了问题 • 1 人关注 • 0 个回复 • 2905 次浏览 • 2020-03-06 11:59 • 来自相关话题

TypeError: conv2d(): argument 'input' (position 1) must be Tensor, not numpy.ndarray

回复

Linux系统相关 • ddwy 发起了问题 • 1 人关注 • 0 个回复 • 6913 次浏览 • 2020-01-02 10:33 • 来自相关话题

python模块以及导入ImportError: No module named skimage.morphology

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Linux系统相关 • ddwy 发起了问题 • 1 人关注 • 0 个回复 • 1775 次浏览 • 2019-11-14 18:29 • 来自相关话题

amcl_params.yaml 定位参数

回复

ROS相关 • ddwy 发起了问题 • 1 人关注 • 0 个回复 • 3692 次浏览 • 2019-11-01 09:48 • 来自相关话题

This application failed to start because it could not find or load the Qt platform plugin "xcb".

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ROS相关 • ddwy 发起了问题 • 1 人关注 • 0 个回复 • 1532 次浏览 • 2019-10-31 11:36 • 来自相关话题

nvcc fatal : Value 'sm_20' is not defined for option 'gpu-architecture'

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ROS相关 • ddwy 发起了问题 • 1 人关注 • 0 个回复 • 2531 次浏览 • 2019-10-30 16:06 • 来自相关话题

git clone时,error: RPC failed; curl 56 GnuTLS recv error (-54)

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Linux系统相关 • ddwy 发起了问题 • 1 人关注 • 0 个回复 • 5693 次浏览 • 2019-10-30 15:56 • 来自相关话题

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