How to build vins-fusion on ubuntu20.04 in 2024?

1 cmake install opencv2 opencv4.2 from source

add

#define AV_CODEC_FLAG_GLOBAL_HEADER (1 << 22)
#define CODEC_FLAG_GLOBAL_HEADER AV_CODEC_FLAG_GLOBAL_HEADER
#define AVFMT_RAWPICTURE 0x0020

to yourPath/opencv-2.4.13.5/modules/highgui/src/cap_ffmpeg_impl.hpp

2 cmake install ceres-solver-1.14.0 from source

system dep.

sudo apt-get install libglew-dev libopencv-dev libyaml-cpp-dev 

Ceres dep.

sudo apt-get install libblas-dev liblapack-dev libsuitesparse-dev

wget ceres-solver.org/ceres-solver-1.14.0.tar.gz

sudo apt-get install -y cmake libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev

cd ceres-solver-1.14.0
mkdir build
cd build
~~cmake ..~~ 
cmake .. -DBUILD_TESTING=OFF -DBUILD_EXAMPLES=OFF
make -j4
sudo make install

if you encount the follow errors:

internal/ceres/gtest/gtest.h:10445:35: 
error: variable or field ‘it’ declared 
void 10445 |   for (typename C::const_iterator it = container.begin(); 

try:

eigen版本回退太麻烦了，或许可以试试将cmake … 改为cmake … -DBUILD_TESTING=OFF -DBUILD_EXAMPLES=OFF，避免一些不必要的编译

3 build vins-fusion

Clone the repository and catkin_make:

1 add headers to KITTIGPSTest.cpp, KITTIOdomTest.cpp

// #include <opencv2/imgcodecs/imgcodecs_c.h>  //has been removed 
#include "opencv2/imgcodecs/legacy/constants_c.h"

2 alter opencv2 to opencv4.2：

所有由于opencv版本引发的错误均集中在这里：

2.1 error: ‘CV_GRAY2BGR’ was not declared in this scope
error: ‘CV_BGR2GRAY’ was not declared in this scope

2.2 error: ‘CV_CALIB_CB_ADAPTIVE_THRESH’ was not declared in this scope

2.3 error: ‘CV_ADAPTIVE_THRESH_MEAN_C’ was not declared in this scope

2.4 error: ‘CV_THRESH_BINARY’ was not declared in this scope

2.5 error: ‘CV_AA’ was not declared in this scope; did you mean ‘CV_MSA’?

2.6 error: ‘CV_SHAPE_CROSS’ was not declared in this scope

2.7 error: ‘CV_RETR_CCOMP’ was not declared in this scope
error: ‘CV_CHAIN_APPROX_SIMPLE’ was not declared in this scope

2.8 error: ‘CV_LOAD_IMAGE_GRAYSCALE’ was not declared in this scope

2.9 error: ‘CV_FONT_HERSHEY_SIMPLEX’ was not declared in this scope

FIX：

# 2.1
# /home/robot/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc
CV_GRAY2BGR  ⇒  cv::COLOR_GRAY2BGR
CV_BGR2GRAY  ⇒  cv::COLOR_BGR2GRAY 两处
# /home/robot/catkin_ws/src/VINS-Fusion/camera_models/src/calib/CameraCalibration.cc
CV_GRAY2BGR  ⇒  cv::COLOR_GRAY2BGR
# /home/robot/catkin_ws/src/VINS-Fusion/vins_estimator/src/featureTracker/feature_tracker.cpp
CV_GRAY2RGB  ⇒  cv::COLOR_GRAY2RGB
/home/robot/catkin_ws/src/VINS-Fusion/loop_fusion/src/ThirdParty/DVision/BRIEF.cpp
CV_RGB2GRAY  ⇒   cv::COLOR_RGB2GRAY


# 2.2
# 还是/home/robot/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc
添加 #include <opencv2/calib3d/calib3d_c.h>

# 2.3
# 还是/home/robot/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc
添加#include<opencv2/imgproc/types_c.h>

# 2.4
# 还是/home/robot/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc
CV_THRESH_BINARY   ⇒   cv::THRESH_BINARY 四处

# 2.5
# /home/robot/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc
# /home/robot/catkin_ws/src/VINS-Fusion/camera_models/src/calib/CameraCalibration.cc
# /home/robot/catkin_ws/src/VINS-Fusion/camera_models/src/intrinsic_calib.cc
添加#include “opencv2/imgproc/imgproc_c.h”

#2.6
# /home/robot/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc
CV_SHAPE_CROSS  ⇒   cv::MORPH_CROSS
CV_SHAPE_RECT  ⇒   cv::MORPH_RECT

# 2.7
# /home/robot/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc
CV_RETR_CCOMP  ⇒   cv::RETR_CCOMP 三处
CV_CHAIN_APPROX_SIMPLE  ⇒   cv::CHAIN_APPROX_SIMPLE 三处

# 2.8
# /home/robot/catkin_ws/src/VINS-Fusion/vins_estimator/src/KITTIGPSTest.cpp
# /home/robot/catkin_ws/src/VINS-Fusion/vins_estimator/src/KITTIOdomTest.cpp
CV_LOAD_IMAGE_GRAYSCALE  ⇒   cv::IMREAD_GRAYSCALE 各两处

# 2.9
# /home/robot/catkin_ws/src/VINS-Fusion/loop_fusion/src/keyframe.cpp
# /home/robot/catkin_ws/src/VINS-Fusion/loop_fusion/src/pose_graph.cpp
CV_FONT_HERSHEY_SIMPLEX   ⇒   cv::FONT_HERSHEY_SIMPLEX  一个两处，一个五处

原文链接：https://blog.csdn.net/qq_41746268/article/details/133816982

    cd ~/catkin_ws/src
    git clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git
    cd ../
    catkin_make
    source ~/catkin_ws/devel/setup.bash

4 Evolution using evo

4.1

install evo

4.2

SLAM中evo评估工具（用自己的数据集评估vinsFusion）
Vins-Fusion运行kitti,euroc和tum数据集并使用evo评估

5 install ros-noetic

wget http://fishros.com/install -O fishros && . fishros