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ROS Noetic上无法使用robot_state_publisher发布带有name spcace的tf

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ROS相关 • lalala 回复了问题 • 1 人关注 • 1 个回复 • 2311 次浏览 • 2022-09-07 18:25 • 来自相关话题

启动turtlebot3报错：” unknown error handler name 'rosmsg'.“

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ROS相关 • lalala 回复了问题 • 1 人关注 • 1 个回复 • 3335 次浏览 • 2020-09-02 12:37 • 来自相关话题

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 • 9059 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 • 7252 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
 

Ubuntu 1804 编译realsense-ros包报错

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ROS相关 • lalala 回复了问题 • 1 人关注 • 2 个回复 • 3155 次浏览 • 2020-08-05 12:14 • 来自相关话题

使用usb摄像头报错:CameraInfo/P resulted in an invalid position calculation (nans or infs)

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ROS相关 • lalala 回复了问题 • 1 人关注 • 1 个回复 • 3063 次浏览 • 2020-07-15 17:42 • 来自相关话题

上传固件时遇到 Fail to open port 1 : /dev/ttyACM0

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Turtlebot3 • lalala 回复了问题 • 1 人关注 • 1 个回复 • 4912 次浏览 • 2019-12-24 15:16 • 来自相关话题

Turtlebot3多机建图时出现的tf问题

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Turtlebot3 • lalala 回复了问题 • 0 人关注 • 1 个回复 • 4599 次浏览 • 2019-12-05 18:25 • 来自相关话题

ORB_SLAM2 安装编译报错：“undefined reference to symbol '_ZN5boost6system15system_categoryEv'”

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ROS相关 • lalala 回复了问题 • 1 人关注 • 1 个回复 • 4925 次浏览 • 2019-09-20 18:32 • 来自相关话题

虚拟机 ubuntu 1804 编译tb3_ros2包时，报错c++: internal compiler error: Killed (program cc1plus)

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ROS2相关 • lalala 回复了问题 • 1 人关注 • 1 个回复 • 3175 次浏览 • 2019-09-03 09:35 • 来自相关话题

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lalala 回答了问题 • 2019-12-05 15:37 • 1 个回复 不感兴趣

Turtlebot3多机建图时出现的tf问题

赞同来自:

解决方法
  ubuntu@burger:~$ locate SerialClient
/opt/ros/kinetic/lib/python2.7/dist-packages/rosserial_python/SerialClient.py
/opt/r... 显示全部 »
解决方法
  ubuntu@burger:~$ locate SerialClient
/opt/ros/kinetic/lib/python2.7/dist-packages/rosserial_python/SerialClient.py
/opt/ros/kinetic/lib/python2.7/dist-packages/rosserial_python/SerialClient.pyc

ubuntu@burger:~$ sudo vim /opt/ros/kinetic/lib/python2.7/dist-packages/rosserial_python/SerialClient.py 修改341行的 timeout值 增大延时时间 def __init__(self, port=None, baud=57600, timeout=5.0, fix_pyserial_for_test=False):


重新启动小车及查看tf树
 
启动后OpenCR反馈出来的信息
 

[INFO] [1575526873.772037]: Setup TF on Odometry [tb3_0/odom]
[INFO] [1575526873.778939]: Setup TF on IMU [tb3_0/imu_link]
[INFO] [1575526873.785893]: Setup TF on MagneticField [tb3_0/mag_link]
[INFO] [1575526873.791598]: Setup TF on JointState [tb3_0/base_link]
 

11
 [code]ubuntu@burger:~$ ROS_NAMESPACE=tb3_0 roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:="tb3_0" set_lidar_frame_id:="tb3_0/base_scan"
... logging to /home/ubuntu/.ros/log/bfe964d6-1722-11ea-8909-000c2965f318/roslaunch-burger-1750.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.0.25:39079/

SUMMARY
========

PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /tb3_0/turtlebot3_core/baud: 115200
* /tb3_0/turtlebot3_core/port: /dev/ttyACM0
* /tb3_0/turtlebot3_core/tf_prefix: tb3_0
* /tb3_0/turtlebot3_lds/frame_id: tb3_0/base_scan
* /tb3_0/turtlebot3_lds/port: /dev/ttyUSB0

NODES
/tb3_0/
turtlebot3_core (rosserial_python/serial_node.py)
turtlebot3_diagnostics (turtlebot3_bringup/turtlebot3_diagnostics)
turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)

ROS_MASTER_URI=http://192.168.0.184:11311

process[tb3_0/turtlebot3_core-1]: started with pid [1759]
process[tb3_0/turtlebot3_lds-2]: started with pid [1760]
process[tb3_0/turtlebot3_diagnostics-3]: started with pid [1761]
[INFO] [1575526868.439246]: ROS Serial Python Node
[INFO] [1575526868.512420]: Connecting to /dev/ttyACM0 at 115200 baud
[INFO] [1575526870.655526]: Note: publish buffer size is 1024 bytes
[INFO] [1575526870.658004]: Setup publisher on sensor_state [turtlebot3_msgs/SensorState]
[INFO] [1575526870.673665]: Setup publisher on firmware_version [turtlebot3_msgs/VersionInfo]
[INFO] [1575526870.753997]: Setup publisher on imu [sensor_msgs/Imu]
[INFO] [1575526870.776517]: Setup publisher on cmd_vel_rc100 [geometry_msgs/Twist]
[INFO] [1575526870.799170]: Setup publisher on odom [nav_msgs/Odometry]
[INFO] [1575526870.826280]: Setup publisher on joint_states [sensor_msgs/JointState]
[INFO] [1575526870.844346]: Setup publisher on battery_state [sensor_msgs/BatteryState]
[INFO] [1575526870.857858]: Setup publisher on magnetic_field [sensor_msgs/MagneticField]
[INFO] [1575526873.165272]: Setup publisher on /tf [tf/tfMessage]
[INFO] [1575526873.200181]: Note: subscribe buffer size is 1024 bytes
[INFO] [1575526873.201801]: Setup subscriber on cmd_vel [geometry_msgs/Twist]
[INFO] [1575526873.227525]: Setup subscriber on sound [turtlebot3_msgs/Sound]
[INFO] [1575526873.257460]: Setup subscriber on motor_power [std_msgs/Bool]
[INFO] [1575526873.299892]: Setup subscriber on reset [std_msgs/Empty]
[INFO] [1575526873.772037]: Setup TF on Odometry [tb3_0/odom]
[INFO] [1575526873.778939]: Setup TF on IMU [tb3_0/imu_link]
[INFO] [1575526873.785893]: Setup TF on MagneticField [tb3_0/mag_link]
[INFO] [1575526873.791598]: Setup TF on JointState [tb3_0/base_link]
[INFO] [1575526873.805208]: --------------------------
[INFO] [1575526873.811731]: Connected to OpenCR board!
[INFO] [1575526873.818080]: This core(v1.2.3) is compatible with TB3 Burger
[INFO] [1575526873.824910]: --------------------------
[INFO] [1575526873.831345]: Start Calibration of Gyro
[INFO] : Calibration End
参考资料
 

​https://github.com/ROBOTIS-GIT/turtlebot3/issues/340
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ROS Noetic上无法使用robot_state_publisher发布带有name spcace的tf

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ROS相关 • lalala 回复了问题 • 1 人关注 • 1 个回复 • 2311 次浏览 • 2022-09-07 18:25 • 来自相关话题

启动turtlebot3报错：” unknown error handler name 'rosmsg'.“

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ROS相关 • lalala 回复了问题 • 1 人关注 • 1 个回复 • 3335 次浏览 • 2020-09-02 12:37 • 来自相关话题

Ubuntu 1804 编译realsense-ros包报错

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ROS相关 • lalala 回复了问题 • 1 人关注 • 2 个回复 • 3155 次浏览 • 2020-08-05 12:14 • 来自相关话题

使用usb摄像头报错:CameraInfo/P resulted in an invalid position calculation (nans or infs)

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ROS相关 • lalala 回复了问题 • 1 人关注 • 1 个回复 • 3063 次浏览 • 2020-07-15 17:42 • 来自相关话题

上传固件时遇到 Fail to open port 1 : /dev/ttyACM0

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Turtlebot3 • lalala 回复了问题 • 1 人关注 • 1 个回复 • 4912 次浏览 • 2019-12-24 15:16 • 来自相关话题

Turtlebot3多机建图时出现的tf问题

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Turtlebot3 • lalala 回复了问题 • 0 人关注 • 1 个回复 • 4599 次浏览 • 2019-12-05 18:25 • 来自相关话题

ORB_SLAM2 安装编译报错：“undefined reference to symbol '_ZN5boost6system15system_categoryEv'”

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ROS相关 • lalala 回复了问题 • 1 人关注 • 1 个回复 • 4925 次浏览 • 2019-09-20 18:32 • 来自相关话题

虚拟机 ubuntu 1804 编译tb3_ros2包时，报错c++: internal compiler error: Killed (program cc1plus)

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ROS2相关 • lalala 回复了问题 • 1 人关注 • 1 个回复 • 3175 次浏览 • 2019-09-03 09:35 • 来自相关话题

执行py脚本报错 The publisher should be created with an explicit keyword argument 'queue_size'.

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ROS相关 • lalala 回复了问题 • 1 人关注 • 1 个回复 • 3541 次浏览 • 2019-08-30 12:37 • 来自相关话题

安装arduino-1.0.6后 打开有 arduino: java: not found

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Linux系统相关 • lalala 回复了问题 • 1 人关注 • 1 个回复 • 1773 次浏览 • 2019-08-15 16:45 • 来自相关话题

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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 • 9059 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 • 7252 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
 

测试建图遇到的问题整理

ROS相关 • lalala 发表了文章 • 0 个评论 • 5720 次浏览 • 2019-07-22 17:45 • 来自相关话题

问题一：
 
设置完机器人的urdf模型，再运行slam建图程序出现一下报错
Warning: TF_OLD_DATA ignoring data from the past for frame imu_link at time 1.56379e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
         at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.20/src/buffer_core.cpp

Warning: TF_OLD_DATA ignoring data from the past for frame imu_link at time 1.56379e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
         at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.20/src/buffer_core.cpp
解决方法：
 
经检查发现是tf变换冲突，本来启动imu的launch文件里面写了tf变换，这跟urdf里面设置的重复了，注释掉启动imu的launch文件中的tf变换语句后，程序运行正常

问题二：
 
测试karto算法建图时，发现rviz中有一系列连续的黑点，其为机器人已走过的痕迹，之前在tb3上也遇到过这样的问题





 
待解决： 
参考资料：
https://answers.ros.org/question/232523/slam_karto-marks-grid-cell-underneath-real-robot-as-occupied/ 查看全部
问题一：
 
设置完机器人的urdf模型，再运行slam建图程序出现一下报错

Warning: TF_OLD_DATA ignoring data from the past for frame imu_link at time 1.56379e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
         at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.20/src/buffer_core.cpp

Warning: TF_OLD_DATA ignoring data from the past for frame imu_link at time 1.56379e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
         at line 277 in /tmp/binarydeb/ros-kinetic-tf2-0.5.20/src/buffer_core.cpp


解决方法：
 
经检查发现是tf变换冲突，本来启动imu的launch文件里面写了tf变换，这跟urdf里面设置的重复了，注释掉启动imu的launch文件中的tf变换语句后，程序运行正常

问题二：
 
测试karto算法建图时，发现rviz中有一系列连续的黑点，其为机器人已走过的痕迹，之前在tb3上也遇到过这样的问题

微信图片_20190723164255.png

 
待解决： 
参考资料：

测试导航时遇到的问题整理

ROS相关 • lalala 发表了文章 • 0 个评论 • 4282 次浏览 • 2019-07-20 12:10 • 来自相关话题

问题一：
测试ailibot导航时，出现off map 的报错
[ WARN] [1563590145.137041656]: Off Map 1.159504, -3.989272 
[ WARN] [1563590145.137944517]: Off Map 1.166918, -3.960472
解决方法：查阅资料发现是local_costmap_params的里面的参数设置问题
​local_costmap:global_frame: /odom
robot_base_frame: /base_footprint
update_frequency: 1.0 #before 5.0
publish_frequency: 5.0 #before 2.0
static_map: false
rolling_window: true
width: 5 #2.5 
height: 5 #2.5
resolution: 0.05 #increase to for higher res 0.025
transform_tolerance: 0.5
cost_scaling_factor: 5
inflation_radius: 0.55    
             
这里的地图长度和宽度参数本来设置是2.5，改为5后，导航正常
 
问题二：在树莓派上运行导航程序出现 Control loop missed its desired rate of 5.0000Hz
[ WARN] [1563593333.572693588]: Control loop missed its desired rate of 5.0000Hz... the loop actually took 0.3753 seconds 
[ WARN] [1563593333.819416422]: Control loop missed its desired rate of 5.0000Hz... the loop actually took 0.4222 seconds
未解决：
 
参阅了资料，发现这个好像是跟树莓派的处理能力有关，这个到时再测试像tb3一样的主从方式，在pc上执行导航程序
参考资料：
https://blog.csdn.net/qq_24747993/article/details/53759308http://ros-users.122217.n3.nabble.com/Navigation-Goal-td1681228.html 查看全部
问题一：
测试ailibot导航时，出现off map 的报错

[ WARN] [1563590145.137041656]: Off Map 1.159504, -3.989272 
[ WARN] [1563590145.137944517]: Off Map 1.166918, -3.960472


解决方法：查阅资料发现是local_costmap_params的里面的参数设置问题

​local_costmap:global_frame: /odom
robot_base_frame: /base_footprint
update_frequency: 1.0 #before 5.0
publish_frequency: 5.0 #before 2.0
static_map: false
rolling_window: true
width: 5 #2.5 
height: 5 #2.5
resolution: 0.05 #increase to for higher res 0.025
transform_tolerance: 0.5
cost_scaling_factor: 5
inflation_radius: 0.55    


             
这里的地图长度和宽度参数本来设置是2.5，改为5后，导航正常
 
问题二：在树莓派上运行导航程序出现 Control loop missed its desired rate of 5.0000Hz

[ WARN] [1563593333.572693588]: Control loop missed its desired rate of 5.0000Hz... the loop actually took 0.3753 seconds 
[ WARN] [1563593333.819416422]: Control loop missed its desired rate of 5.0000Hz... the loop actually took 0.4222 seconds


未解决：
 
参阅了资料，发现这个好像是跟树莓派的处理能力有关，这个到时再测试像tb3一样的主从方式，在pc上执行导航程序
参考资料：

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