编译报错一
CMake Error at CMakeLists.txt:198 (add_executable):
Target “dmvio_t265” links to target “Boost::regex” but the target was not
found. Perhaps a find_package() call is missing for an IMPORTED target, or
an ALIAS target is missing?
CMake Error at CMakeLists.txt:191 (add_executable):
Target “dmvio_dataset” links to target “Boost::regex” but the target was
not found. Perhaps a find_package() call is missing for an IMPORTED
target, or an ALIAS target is missing?
进入到CMakeLists.txt, 19行增加regex:
find_package(Boost COMPONENTS system thread filesystem chrono serialization date_time timer regex)
编译报错二
dm-vio下新建子目录catkin_ws/src:
git clone https://github.com/lukasvst/dm-vio-ros.git
为了能让这个插件找到刚刚编译的dm-vio,在.bashrc加上一个环境变量:
sudo gedit ~/.bashrc
在最后面,加上:
export DMVIO_BUILD=/PATH/TO/dm-vio/build
catkin_make之前,仍然需要修改CMakeLists.txt,85行之后,增加一句:
add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_generate_messages_cpp)
不然编译的时候会因为找不到生成的msg格式而报错
catkin_make
source devel/setup.bash
在T265上运行DM-VIO
rosrun dmvio_ros node nogui=0 useimu=1 quiet=1 mode=3 \
calib=/home/bitcq/Music/dm-vio/configs/tumvi_calib/camera02.txt \
imuCalib=/home/bitcq/Music/dm-vio/configs/tumvi_calib/camchain.yaml \
gamma=/home/bitcq/Music/dm-vio/configs/pcalib_linear_8bit.txt \
vignette=/home/bitcq/Music/dm-vio/configs/realsense/vignette_t265.png \
settingsFile=/home/bitcq/Music/dm-vio/configs/t265_noise_tumvi.yaml \
resultsPrefix=/home/bitcq/Music/dm-vio/configs \
cam0/image_raw:=/camera/fisheye1/image_raw imu0:=/camera/imu
roslaunch realsense2_camera rs_t265.launch unite_imu_method:=linear_interpolation enable_fisheye1:=true enable_fisheye2:=true enable_pose:=false