单目DM-vio-ros

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已于 2023-04-24 16:31:10 修改

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分类专栏： ROS 文章标签： ros

于 2023-04-23 14:35:03 首次发布

本文链接：https://blog.csdn.net/z1872385/article/details/130320385

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文章描述了在编译dm-vio项目时遇到的CMake错误，特别是与Boost库中regex组件的链接问题。解决方案包括在CMakeLists.txt中添加find_package()调用来寻找Boost库。此外，还提到了在构建ROSdm-vio插件时需要设置环境变量以及添加依赖项以避免编译错误。最后，文章给出了在T265上运行DM-VIO的命令行参数和启动ROS节点的方法。

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编译过程参考

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