vins fusion terminate called after throwing an instance of ‘cv::Exception‘ what(): OpenCV(4.5.4)

terminate called after throwing an instance of 'cv::Exception'
  what():  OpenCV(4.5.4) /home/ubuntu/build_opencv/opencv/modules/core/src/matrix.cpp:250: error: (-215:Assertion failed) s >= 0 in function 'setSize'

[vins_fusion-1] process has died [pid 27595, exit code -6, cmd /home/nvidia/Fast-Drone-250/devel/lib/vins/vins_node /home/nvidia/Fast-Drone-250/src/realflight_modules/VINS-Fusion/vins_estimator/../config/fast_drone_250.yaml __name:=vins_fusion __log:=/home/nvidia/.ros/log/9964beb2-6761-11ee-9fe0-b46dc2cbe63e/vins_fusion-1.log].
log file: /home/nvidia/.ros/log/9964beb2-6761-11ee-9fe0-b46dc2cbe63e/vins_fusion-1*.log
all processes on machine have died, roslaunch will exit

vins fusion

 cd /opt/ros/noetic/share/cv_bridge/cmake
 sudo gedit cv_bridgeConfig.cmake

set(libraries "cv_bridge;/usr/lib/aarch64-linux-gnu/libopencv_calib3d.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_dnn.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_features2d.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_flann.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_highgui.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_ml.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_objdetect.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_photo.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_stitching.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_video.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_videoio.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_aruco.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_bgsegm.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_bioinspired.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_ccalib.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_datasets.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_dnn_objdetect.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_dnn_superres.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_dpm.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_face.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_freetype.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_fuzzy.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_hdf.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_hfs.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_img_hash.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_line_descriptor.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_optflow.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_phase_unwrapping.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_plot.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_quality.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_reg.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_rgbd.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_saliency.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_shape.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_stereo.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_structured_light.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_superres.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_surface_matching.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_text.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_tracking.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_videostab.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_viz.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_ximgproc.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_xobjdetect.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_xphoto.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_core.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_imgproc.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_imgcodecs.so.4.2.0")

change to

locate opencv

/usr/lib/aarch64-linux-gnu/libgstopencv-1.0.so;/usr/lib/aarch64-linux-gnu/libgstopencv-1.0.so.0;/usr/lib/aarch64-linux-gnu/libgstopencv-1.0.so.0.1603.0;/usr/lib/aarch64-linux-gnu/libopencv_aruco.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_aruco.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_bgsegm.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_bgsegm.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_bioinspired.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_bioinspired.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_calib3d.so;/usr/lib/aarch64-linux-gnu/libopencv_calib3d.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_calib3d.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_calib3d.so.4.5;/usr/lib/aarch64-linux-gnu/libopencv_calib3d.so.4.5.4;/usr/lib/aarch64-linux-gnu/libopencv_ccalib.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_ccalib.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_core.so;/usr/lib/aarch64-linux-gnu/libopencv_core.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_core.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_core.so.4.5;/usr/lib/aarch64-linux-gnu/libopencv_core.so.4.5.4;/usr/lib/aarch64-linux-gnu/libopencv_datasets.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_datasets.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_dnn.so;/usr/lib/aarch64-linux-gnu/libopencv_dnn.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_dnn.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_dnn.so.4.5;/usr/lib/aarch64-linux-gnu/libopencv_dnn.so.4.5.4;/usr/lib/aarch64-linux-gnu/libopencv_dnn_objdetect.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_dnn_objdetect.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_dnn_superres.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_dnn_superres.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_dpm.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_dpm.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_face.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_face.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_features2d.so;/usr/lib/aarch64-linux-gnu/libopencv_features2d.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_features2d.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_features2d.so.4.5;/usr/lib/aarch64-linux-gnu/libopencv_features2d.so.4.5.4;/usr/lib/aarch64-linux-gnu/libopencv_flann.so;/usr/lib/aarch64-linux-gnu/libopencv_flann.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_flann.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_flann.so.4.5;/usr/lib/aarch64-linux-gnu/libopencv_flann.so.4.5.4;/usr/lib/aarch64-linux-gnu/libopencv_freetype.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_freetype.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_fuzzy.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_fuzzy.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_gapi.so;/usr/lib/aarch64-linux-gnu/libopencv_gapi.so.4.5;/usr/lib/aarch64-linux-gnu/libopencv_gapi.so.4.5.4;/usr/lib/aarch64-linux-gnu/libopencv_hdf.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_hdf.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_hfs.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_hfs.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_highgui.so;/usr/lib/aarch64-linux-gnu/libopencv_highgui.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_highgui.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_highgui.so.4.5;/usr/lib/aarch64-linux-gnu/libopencv_highgui.so.4.5.4;/usr/lib/aarch64-linux-gnu/libopencv_img_hash.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_img_hash.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_imgcodecs.so;/usr/lib/aarch64-linux-gnu/libopencv_imgcodecs.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_imgcodecs.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_imgcodecs.so.4.5;/usr/lib/aarch64-linux-gnu/libopencv_imgcodecs.so.4.5.4;/usr/lib/aarch64-linux-gnu/libopencv_imgproc.so;/usr/lib/aarch64-linux-gnu/libopencv_imgproc.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_imgproc.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_imgproc.so.4.5;/usr/lib/aarch64-linux-gnu/libopencv_imgproc.so.4.5.4;/usr/lib/aarch64-linux-gnu/libopencv_line_descriptor.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_line_descriptor.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_ml.so;/usr/lib/aarch64-linux-gnu/libopencv_ml.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_ml.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_ml.so.4.5;/usr/lib/aarch64-linux-gnu/libopencv_ml.so.4.5.4;/usr/lib/aarch64-linux-gnu/libopencv_objdetect.so;/usr/lib/aarch64-linux-gnu/libopencv_objdetect.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_objdetect.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_objdetect.so.4.5;/usr/lib/aarch64-linux-gnu/libopencv_objdetect.so.4.5.4;/usr/lib/aarch64-linux-gnu/libopencv_optflow.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_optflow.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_phase_unwrapping.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_phase_unwrapping.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_photo.so;/usr/lib/aarch64-linux-gnu/libopencv_photo.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_photo.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_photo.so.4.5;/usr/lib/aarch64-linux-gnu/libopencv_photo.so.4.5.4;/usr/lib/aarch64-linux-gnu/libopencv_plot.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_plot.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_quality.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_quality.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_reg.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_reg.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_rgbd.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_rgbd.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_saliency.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_saliency.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_shape.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_shape.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_stereo.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_stereo.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_stitching.so;/usr/lib/aarch64-linux-gnu/libopencv_stitching.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_stitching.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_stitching.so.4.5;/usr/lib/aarch64-linux-gnu/libopencv_stitching.so.4.5.4;/usr/lib/aarch64-linux-gnu/libopencv_structured_light.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_structured_light.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_superres.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_superres.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_surface_matching.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_surface_matching.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_text.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_text.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_tracking.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_tracking.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_video.so;/usr/lib/aarch64-linux-gnu/libopencv_video.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_video.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_video.so.4.5;/usr/lib/aarch64-linux-gnu/libopencv_video.so.4.5.4;/usr/lib/aarch64-linux-gnu/libopencv_videoio.so;/usr/lib/aarch64-linux-gnu/libopencv_videoio.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_videoio.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_videoio.so.4.5;/usr/lib/aarch64-linux-gnu/libopencv_videoio.so.4.5.4;/usr/lib/aarch64-linux-gnu/libopencv_videostab.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_videostab.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_viz.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_viz.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_ximgproc.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_ximgproc.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_xobjdetect.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_xobjdetect.so.4.2.0;/usr/lib/aarch64-linux-gnu/libopencv_xphoto.so.4.2;/usr/lib/aarch64-linux-gnu/libopencv_xphoto.so.4.2.0

解释一下上述操作：
1、、打开新终端，定位opencv，操作是：

 locate opencv    

该操作，将会出现如“

/usr/lib/aarch64-linux-gnu/libgstopencv-1.0.so;
/usr/lib/aarch64-linux-gnu/libgstopencv-1.0.so.0;
/usr/lib/aarch64-linux-gnu/libgstopencv-1.0.so.0.1603.0;
…
/usr/lib/aarch64-linux-gnu/libopencv_xphoto.so.4.2.0

”这样一大长串的东西，复制他们
2、修改文件，操作是 ： sudo gedit /opt/ros/noetic/share/cv_bridge/cmake/cv_bridgeConfig.cmake，搜索

“set(libraries "cv_bridge;/usr/lib/aarch64-linux-gn
……)”

找到该命令的位置，将“/usr/lib/aarch64-linux-gn…”改为第一步中让你复制的locate opencv后出来的那一大长串文件地址即可。