ubuntu20.04 vins-fusion 运行记录

过程记录

环境：
ubuntu20.04
opencv4.2.0(此次使用) 3.3.1(其他程序在使用)

vins-fusion
vision_opencv

1.下载VINS-Fusion和cv_bridge，并进行修改，方便使用opencv4.2.0和对应的cv_bridge。

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
# 下载 VINS-Fusion
git clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git
# 下载cv_bridge 1.16，不存在多个版本的opencv可以不下，直接编译VINS-Fusion
git clone https://github.com/ros-perception/vision_opencv.git --branch noetic
# 我只想保留cv_bridge，想带着vision_opencv的可以不做
mv /vision_opencv/cv_bridge ./
rm -rf vision_opencv

2.编译cv_bridge
修改cv_bridge中的CMakeLists.txt和package.xml

# CMakeLists.txt
project(cv_bridge_4)
# package.xml
<name>cv_bridge_4</name>

编译cv_bridge

cd ~/catkin_ws
catkin build cv_bridge_4

3.编译VINS-Fusion
修改CMakeLists.txt，这一步是因为系统中有多个opencv，所以我需要确定是哪个并使用对应版本的cv_bridge

# /home/robot/catkin_ws/src/VINS-Fusion/camera_models/CMakeLists.txt
# /home/robot/catkin_ws/src/VINS-Fusion/loop_fusion/CMakeLists.txt
# /home/robot/catkin_ws/src/VINS-Fusion/vins_estimator/CMakeLists.txt
find_package(OpenCV REQUIRED)  ⇒ find_package(OpenCV 4 REQUIRED)
cv_bridge  ⇒   cv_bridge_4

编译

catkin build

ERROR 1：

error: ‘integer_sequence’ is not a member of ‘std’
FIX：
修改文件，不使用c++11而是c++14

# 修改/home/robot/catkin_ws/src/VINS-Fusion/camera_models/CMakeLists.txt
# 修改/home/robot/catkin_ws/src/VINS-Fusion/global_fusion/CMakeLists.txt
# 修改/home/robot/catkin_ws/src/VINS-Fusion/loop_fusion/CMakeLists.txt
# 修改/home/robot/catkin_ws/src/VINS-Fusion/vins_estimator/CMakeLists.txt
set(CMAKE_CXX_FLAGS "-std=c++14")

ERROR 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：
修改格式：未修改CV_*==>修改后

# 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

ERROR 3:
Segmentation Fault（core dump）
OpenCV版本和cv_bridge版本问题

FIX：
查看上方步骤，选择对应的opencv版本和cv_bridge版本，并修改CMakeLists.txt