在https://github.com/pjrambo/VINS-Fusion-gpu中下载VINS-Fusion-gpu源码。所遇问题如下:
1.由于TX2安装时使用的是JetPack3.2,里边的Opencv版本为3.3,上述源码所运行的环境为Opencv3.4.1。所以需要重装Opencv。
(1)卸载Opencv3.3:
sudo apt-get purge libopencv*
sudo apt-get -f autoremove
sudo apt-get update
(2)安装Opencv3.4.1:
1.官网下载
2.解压:unzip opencv-3.4.1.zip
3.进入解压目录:cd opencv-3.4.1
4.安装依赖:sudo apt-get install build-essential libgtk2.0-dev libavcodec-dev libavformat-dev libjpeg.dev libtiff4.dev libswscale-dev libjasper-dev
5.创建编译目录:mkdir build && cd build
6.cmake编译下:cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local/opencv3.4.1 -D OPENCV_EXTRA_MODUL