曼哈顿问题总结

cmake … 编译报错：Error from syntax check of PLRGBD_MW_VP_ROS/manifest.xml
Traceback (most recent call last):
File “”, line 1, in
File “/opt/ros/melodic/lib/python2.7/dist-packages/roslib/manifest.py”, line 146, in parse_file
return roslib.manifestlib.parse_file(Manifest(), file)
File “/opt/ros/melodic/lib/python2.7/dist-packages/roslib/manifestlib.py”, line 532, in parse_file
raise ValueError(‘Invalid/non-existent manifest file: %s’ % file)
ValueError: Invalid/non-existent manifest file: manifest.xml
CMake Error at /opt/ros/melodic/share/ros/core/rosbuild/private.cmake:77 (message):
[rosbuild] Syntax check of PLRGBD_MW_VP_ROS/manifest.xml failed; aborting
Call Stack (most recent call first):
/opt/ros/melodic/share/ros/core/rosbuild/public.cmake:174 (_rosbuild_check_manifest)

##解决：从曼哈顿包里拷贝了一个 manifest.xml 文件，然后用文本编辑器打开，把里面对应曼哈顿的名字改成PLRGBD_MW_VP_ROS
3. 改ros版本的PLRGBD报错： error: #error The preprocessor symbol ‘Success’ is defined, possibly by the X11 header file X.h
#error The preprocessor symbol ‘Success’ is defined, possibly by the X11 header file X.h
^~~~~

解决：根据教程;https://blog.csdn.net/qq_39619964/article/details/125496162

Success重复定义问题，修改头文件，即可解决这一问题。

 #include <X11/Xlib.h> 
 #ifdef Success
 #undef Success
 #endif

9.7 PLRGBD_MW_VP_ROS代码的修改*

1. 报错： /usr/include/opencv2/stitching.hpp:128:10: error: expected identifier before ‘int’
   enum Status
   /usr/include/opencv2/stitching.hpp:129:5: error: expected unqualified-id before ‘{’ token
   {

解决： 教程：https://blog.csdn.net/qq_40250056/article/details/115480170

解决方法
将OpenCV相关的头文件放在和X11相关的头文件的前面就可以了

2. 运行中报错：OpenCV Error: Assertion failed (type == B.type() && (type == CV_32FC1 || type == CV_64FC1 || type == CV_32FC2 || type == CV_64FC2)) in gemm, file /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/matmul.cpp, line 1530
   terminate called after throwing an instance of ‘cv::Exception’
   what(): /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/matmul.cpp:1530: error: (-215) type == B.type() && (type == CV_32FC1 || type == CV_64FC1 || type == CV_32FC2 || type == CV_64FC2) in function gemm

已放弃 (核心已转储)

解决方法：

1. 教程解释了一下，没有解决方法:https://blog.csdn.net/ricky90/article/details/52936646
   原因：这个错误是单应矩阵H于坐标向量x相乘引起的，二者类型不一致导致，由于之前32位系统，findHomography函数默认返回CV_32F类型的单应矩阵，与CV_32F类型的x相乘没有问题，但是64位系统上默认返回CV_64F类型的H，与x相乘就会有问题。这也是我输出H的类型
   cout<<H.type()<<endl;

原文链接：https://blog.csdn.net/ricky90/article/details/52936646