VINS-Fusion
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Published
20 hours ago •
HKUST-Aerial-Robotics
HKUST-Aerial-Robotics
VINS-fusion on Ubuntu 20.04
Hello all, I try to use VINS-fusion in my workspace. This is my system setting: Ubuntu 20.04 + opencv_version 4.2.0 + gcc (Ubuntu 9.3.0-17ubuntu1 ~ 20.04) 9.3.0 I have two questions: 1- which version of Ceres Solver do you suggest 2.0.0 or 1.14.0? 2- at the moment I have 1.14, but yesterday I tried to install ceres solver 2.0.0. Both versions give me some errors during the catkin_make. How can these problems be solved?
Base path: /home/peppe/catkin_ws
Source space: /home/peppe/catkin_ws/src
Build space: /home/peppe/catkin_ws/build
Devel space: /home/peppe/catkin_ws/devel
Install space: /home/peppe/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/peppe/catkin_ws/build"
####
####
#### Running command: "make -j12 -l12" in "/home/peppe/catkin_ws/build"
####
[ 4%] Built target libGeographiccc
[ 4%] Built target std_msgs_generate_messages_lisp
[ 4%] Built target std_msgs_generate_messages_cpp
[ 4%] Built target std_msgs_generate_messages_py
[ 4%] Built target std_msgs_generate_messages_nodejs
[ 4%] Built target std_msgs_generate_messages_eus
[ 4%] Built target geometry_msgs_generate_messages_nodejs
[ 4%] Built target sensor_msgs_generate_messages_eus
[ 4%] Built target sensor_msgs_generate_messages_cpp
[ 4%] Built target geometry_msgs_generate_messages_eus
[ 6%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/camera_models.dir/src/chessboard/Chessboard.cc.o
[ 8%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/src/intrinsic_calib.cc.o
[ 8%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/camera_models.dir/src/camera_models/CostFunctionFactory.cc.o
[ 9%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/camera_models.dir/src/calib/CameraCalibration.cc.o
[ 10%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/src/chessboard/Chessboard.cc.o
[ 10%] Built target geometry_msgs_generate_messages_lisp
[ 10%] Built target sensor_msgs_generate_messages_py
[ 10%] Built target geometry_msgs_generate_messages_py
[ 10%] Built target sensor_msgs_generate_messages_lisp
[ 10%] Built target sensor_msgs_generate_messages_nodejs
[ 10%] Built target geometry_msgs_generate_messages_cpp
[ 12%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/camera_models.dir/src/camera_models/PinholeCamera.cc.o
[ 13%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/src/camera_models/EquidistantCamera.cc.o
[ 15%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/src/calib/CameraCalibration.cc.o
[ 15%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/camera_models.dir/src/camera_models/CataCamera.cc.o
[ 19%] Built target global_fusion_node
[ 20%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/camera_models.dir/src/camera_models/EquidistantCamera.cc.o
[ 21%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/camera_models.dir/src/camera_models/ScaramuzzaCamera.cc.o
[ 23%] Building CXX object VINS-Fusion/camera_models/CMakeFiles/camera_models.dir/src/camera_models/PinholeFullCamera.cc.o
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/calib/CameraCalibration.cc: In member function ‘void camodocal::CameraCalibration::drawResults(std::vector<cv::Mat>&) const’:
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/calib/CameraCalibration.cc:235:40: error: ‘CV_GRAY2RGB’ was not declared in this scope
235 | cv::cvtColor(image, image, CV_GRAY2RGB);
| ^~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/calib/CameraCalibration.cc:253:37: error: ‘CV_AA’ was not declared in this scope; did you mean ‘CV_MSA’?
253 | 5, green, 2, CV_AA, drawShiftBits);
| ^~~~~
| CV_MSA
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/calib/CameraCalibration.cc:275:24: error: ‘CV_AA’ was not declared in this scope; did you mean ‘CV_MSA’?
275 | 1, CV_AA);
| ^~~~~
| CV_MSA
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/calib/CameraCalibration.cc: In member function ‘void camodocal::CameraCalibration::drawResults(std::vector<cv::Mat>&) const’:
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/calib/CameraCalibration.cc:235:40: error: ‘CV_GRAY2RGB’ was not declared in this scope
235 | cv::cvtColor(image, image, CV_GRAY2RGB);
| ^~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/calib/CameraCalibration.cc:253:37: error: ‘CV_AA’ was not declared in this scope; did you mean ‘CV_MSA’?
253 | 5, green, 2, CV_AA, drawShiftBits);
| ^~~~~
| CV_MSA
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/calib/CameraCalibration.cc:275:24: error: ‘CV_AA’ was not declared in this scope; did you mean ‘CV_MSA’?
275 | 1, CV_AA);
| ^~~~~
| CV_MSA
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc: In constructor ‘camodocal::Chessboard::Chessboard(cv::Size, cv::Mat&)’:
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:20:38: error: ‘CV_GRAY2BGR’ was not declared in this scope
20 | cv::cvtColor(image, mSketch, CV_GRAY2BGR);
| ^~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:26:37: error: ‘CV_BGR2GRAY’ was not declared in this scope
26 | cv::cvtColor(image, mImage, CV_BGR2GRAY);
| ^~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc: In member function ‘void camodocal::Chessboard::findCorners(bool)’:
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:34:43: error: ‘CV_CALIB_CB_ADAPTIVE_THRESH’ was not declared in this scope
34 | CV_CALIB_CB_ADAPTIVE_THRESH +
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:35:43: error: ‘CV_CALIB_CB_NORMALIZE_IMAGE’ was not declared in this scope
35 | CV_CALIB_CB_NORMALIZE_IMAGE +
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc: In constructor ‘camodocal::Chessboard::Chessboard(cv::Size, cv::Mat&)’:
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:20:38: error: ‘CV_GRAY2BGR’ was not declared in this scope
20 | cv::cvtColor(image, mSketch, CV_GRAY2BGR);
| ^~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:26:37: error: ‘CV_BGR2GRAY’ was not declared in this scope
26 | cv::cvtColor(image, mImage, CV_BGR2GRAY);
| ^~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:36:43: error: ‘CV_CALIB_CB_FILTER_QUADS’ was not declared in this scope
36 | CV_CALIB_CB_FILTER_QUADS +
| ^~~~~~~~~~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc: In member function ‘void camodocal::Chessboard::findCorners(bool)’:
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:34:43: error: ‘CV_CALIB_CB_ADAPTIVE_THRESH’ was not declared in this scope
34 | CV_CALIB_CB_ADAPTIVE_THRESH +
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:37:43: error: ‘CV_CALIB_CB_FAST_CHECK’ was not declared in this scope
37 | CV_CALIB_CB_FAST_CHECK,
| ^~~~~~~~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc: In member function ‘bool camodocal::Chessboard::findChessboardCornersImproved(const cv::Mat&, const Size&, std::vector<cv::Point_<float> >&, int)’:
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:144:43: error: ‘CV_CALIB_CB_NORMALIZE_IMAGE’ was not declared in this scope
144 | if (image.channels() != 1 || (flags & CV_CALIB_CB_NORMALIZE_IMAGE))
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:150:43: error: ‘CV_BGR2GRAY’ was not declared in this scope
150 | cv::cvtColor(image, norm_img, CV_BGR2GRAY);
| ^~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:35:43: error: ‘CV_CALIB_CB_NORMALIZE_IMAGE’ was not declared in this scope
35 | CV_CALIB_CB_NORMALIZE_IMAGE +
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:161:17: error: ‘CV_CALIB_CB_FAST_CHECK’ was not declared in this scope
161 | if (flags & CV_CALIB_CB_FAST_CHECK)
| ^~~~~~~~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:192:25: error: ‘CV_CALIB_CB_ADAPTIVE_THRESH’ was not declared in this scope
192 | if (flags & CV_CALIB_CB_ADAPTIVE_THRESH)
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:198:61: error: ‘CV_ADAPTIVE_THRESH_MEAN_C’ was not declared in this scope
198 | cv::adaptiveThreshold(img, thresh_img, 255, CV_ADAPTIVE_THRESH_MEAN_C, CV_THRESH_BINARY, blockSize, (k/2)*5);
| ^~~~~~~~~~~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:198:88: error: ‘CV_THRESH_BINARY’ was not declared in this scope
198 | cv::adaptiveThreshold(img, thresh_img, 255, CV_ADAPTIVE_THRESH_MEAN_C, CV_THRESH_BINARY, blockSize, (k/2)*5);
| ^~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:36:43: error: ‘CV_CALIB_CB_FILTER_QUADS’ was not declared in this scope
36 | CV_CALIB_CB_FILTER_QUADS +
| ^~~~~~~~~~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:207:67: error: ‘CV_THRESH_BINARY’ was not declared in this scope
207 | cv::threshold(img, thresh_img, thresh_level, 255, CV_THRESH_BINARY);
| ^~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:215:57: error: ‘CV_SHAPE_CROSS’ was not declared in this scope
215 | cv::Mat kernel1 = cv::getStructuringElement(CV_SHAPE_CROSS, cv::Size(3,3), cv::Point(1,1));
| ^~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:216:57: error: ‘CV_SHAPE_RECT’ was not declared in this scope
216 | cv::Mat kernel2 = cv::getStructuringElement(CV_SHAPE_RECT, cv::Size(3,3), cv::Point(1,1));
| ^~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:37:43: error: ‘CV_CALIB_CB_FAST_CHECK’ was not declared in this scope
37 | CV_CALIB_CB_FAST_CHECK,
| ^~~~~~~~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:320:43: error: ‘CV_TERMCRIT_EPS’ was not declared in this scope
320 | cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
| ^~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc: In member function ‘bool camodocal::Chessboard::findChessboardCornersImproved(const cv::Mat&, const Size&, std::vector<cv::Point_<float> >&, int)’:
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:144:43: error: ‘CV_CALIB_CB_NORMALIZE_IMAGE’ was not declared in this scope
144 | if (image.channels() != 1 || (flags & CV_CALIB_CB_NORMALIZE_IMAGE))
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:320:61: error: ‘CV_TERMCRIT_ITER’ was not declared in this scope
320 | cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
| ^~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:150:43: error: ‘CV_BGR2GRAY’ was not declared in this scope
150 | cv::cvtColor(image, norm_img, CV_BGR2GRAY);
| ^~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc: In member function ‘void camodocal::Chessboard::generateQuads(std::vector<boost::shared_ptr<camodocal::ChessboardQuad> >&, cv::Mat&, int, int, bool)’:
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:1175:50: error: ‘CV_RETR_CCOMP’ was not declared in this scope
1175 | cv::findContours(image, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
| ^~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:161:17: error: ‘CV_CALIB_CB_FAST_CHECK’ was not declared in this scope
161 | if (flags & CV_CALIB_CB_FAST_CHECK)
| ^~~~~~~~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:1175:65: error: ‘CV_CHAIN_APPROX_SIMPLE’ was not declared in this scope
1175 | cv::findContours(image, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
| ^~~~~~~~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:192:25: error: ‘CV_CALIB_CB_ADAPTIVE_THRESH’ was not declared in this scope
192 | if (flags & CV_CALIB_CB_ADAPTIVE_THRESH)
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:1241:27: error: ‘CV_CALIB_CB_FILTER_QUADS’ was not declared in this scope
1241 | if (!(flags & CV_CALIB_CB_FILTER_QUADS) ||
| ^~~~~~~~~~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:198:61: error: ‘CV_ADAPTIVE_THRESH_MEAN_C’ was not declared in this scope
198 | cv::adaptiveThreshold(img, thresh_img, 255, CV_ADAPTIVE_THRESH_MEAN_C, CV_THRESH_BINARY, blockSize, (k/2)*5);
| ^~~~~~~~~~~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:198:88: error: ‘CV_THRESH_BINARY’ was not declared in this scope
198 | cv::adaptiveThreshold(img, thresh_img, 255, CV_ADAPTIVE_THRESH_MEAN_C, CV_THRESH_BINARY, blockSize, (k/2)*5);
| ^~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:207:67: error: ‘CV_THRESH_BINARY’ was not declared in this scope
207 | cv::threshold(img, thresh_img, thresh_level, 255, CV_THRESH_BINARY);
| ^~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc: In member function ‘bool camodocal::Chessboard::checkChessboard(const cv::Mat&, cv::Size) const’:
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:1586:72: error: ‘CV_THRESH_BINARY’ was not declared in this scope
1586 | cv::threshold(white, thresh, threshLevel + blackWhiteGap, 255, CV_THRESH_BINARY);
| ^~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:215:57: error: ‘CV_SHAPE_CROSS’ was not declared in this scope
215 | cv::Mat kernel1 = cv::getStructuringElement(CV_SHAPE_CROSS, cv::Size(3,3), cv::Point(1,1));
| ^~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:1592:55: error: ‘CV_RETR_CCOMP’ was not declared in this scope
1592 | cv::findContours(thresh, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
| ^~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:216:57: error: ‘CV_SHAPE_RECT’ was not declared in this scope
216 | cv::Mat kernel2 = cv::getStructuringElement(CV_SHAPE_RECT, cv::Size(3,3), cv::Point(1,1));
| ^~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:1592:70: error: ‘CV_CHAIN_APPROX_SIMPLE’ was not declared in this scope
1592 | cv::findContours(thresh, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
| ^~~~~~~~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:320:43: error: ‘CV_TERMCRIT_EPS’ was not declared in this scope
320 | cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
| ^~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:320:61: error: ‘CV_TERMCRIT_ITER’ was not declared in this scope
320 | cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
| ^~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:1597:56: error: ‘CV_THRESH_BINARY_INV’ was not declared in this scope
1597 | cv::threshold(black, thresh, threshLevel, 255, CV_THRESH_BINARY_INV);
| ^~~~~~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc: In member function ‘void camodocal::Chessboard::generateQuads(std::vector<boost::shared_ptr<camodocal::ChessboardQuad> >&, cv::Mat&, int, int, bool)’:
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:1175:50: error: ‘CV_RETR_CCOMP’ was not declared in this scope
1175 | cv::findContours(image, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
| ^~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:1175:65: error: ‘CV_CHAIN_APPROX_SIMPLE’ was not declared in this scope
1175 | cv::findContours(image, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
| ^~~~~~~~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:1241:27: error: ‘CV_CALIB_CB_FILTER_QUADS’ was not declared in this scope
1241 | if (!(flags & CV_CALIB_CB_FILTER_QUADS) ||
| ^~~~~~~~~~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc: In member function ‘bool camodocal::Chessboard::checkChessboard(const cv::Mat&, cv::Size) const’:
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:1586:72: error: ‘CV_THRESH_BINARY’ was not declared in this scope
1586 | cv::threshold(white, thresh, threshLevel + blackWhiteGap, 255, CV_THRESH_BINARY);
| ^~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:1592:55: error: ‘CV_RETR_CCOMP’ was not declared in this scope
1592 | cv::findContours(thresh, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
| ^~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:1592:70: error: ‘CV_CHAIN_APPROX_SIMPLE’ was not declared in this scope
1592 | cv::findContours(thresh, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
| ^~~~~~~~~~~~~~~~~~~~~~
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/chessboard/Chessboard.cc:1597:56: error: ‘CV_THRESH_BINARY_INV’ was not declared in this scope
1597 | cv::threshold(black, thresh, threshLevel, 255, CV_THRESH_BINARY_INV);
| ^~~~~~~~~~~~~~~~~~~~
make[2]: *** [VINS-Fusion/camera_models/CMakeFiles/camera_models.dir/build.make:76: VINS-Fusion/camera_models/CMakeFiles/camera_models.dir/src/calib/CameraCalibration.cc.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/build.make:89: VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/src/calib/CameraCalibration.cc.o] Error 1
make[2]: *** Waiting for unfinished jobs....
[ 26%] Built target image_geometry
[ 30%] Built target cv_bridge
make[2]: *** [VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/build.make:76: VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/src/chessboard/Chessboard.cc.o] Error 1
[ 34%] Built target cv_bridge_boost
make[2]: *** [VINS-Fusion/camera_models/CMakeFiles/camera_models.dir/build.make:63: VINS-Fusion/camera_models/CMakeFiles/camera_models.dir/src/chessboard/Chessboard.cc.o] Error 1
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/intrinsic_calib.cc: In function ‘int main(int, char**)’:
/home/peppe/catkin_ws/src/VINS-Fusion/camera_models/src/intrinsic_calib.cc:277:26: error: ‘CV_AA’ was not declared in this scope
277 | CV_AA );
| ^~~~~
make[2]: *** [VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/build.make:63: VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/src/intrinsic_calib.cc.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:904: VINS-Fusion/camera_models/CMakeFiles/Calibrations.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/Makefile2:769: VINS-Fusion/camera_models/CMakeFiles/camera_models.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
Invoking "make -j12 -l12" failed
I am working on Ubuntu 20.04 and met some problems about OpenCV. So I turned to using Docker support provided in the repository, which is easy to deploy and runs well.
One probable reason is your version of OPENCV, vins-fusion is based on opencv3 while your opencv4 may not support some variable's name. Maybe you can try following steps:
- Locate where is the error from: Based on your terminal feedback, /VINS-Fusion/camera_models/src/chessboard/Chessboard.cc and some other files need to be adapted.
- Add some head files to these "error" files, according to my own experience:
-
In the head file in /camera_model, which is "Chessboard.h", add: #include <opencv2/imgproc/types_c.h> #include <opencv2/calib3d/balib3d_c.h>
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In "CameraCalibration.h", add: #include <opencv2/imgproc/types_c.h> #include <opencv2/imgproc/imgproc_c.h>
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In "loop_fusion/src/VRIEF.h", add: #include <opencv2/imgproc/types_c.h>
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In "loop_fusion/src/pose_graph.cpp", revise: CV_FONT_HERSHEY_SIMPLEX -> cv::FONT_HERSHEY_SIMPLEX
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In "vins_estimator/src/feature_tracker.h", add: #include <opencv2/highgui.hpp> #include <opencv2/cvconfig.h> #include <opencv2/imgproc/types_c.h>
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In, "vins_estimator/src/KITTIOdomTest.cpp KITTIGPSTest.cpp", revise: CV_LOAD_IMAGE_GRAYSCALE -> cv::IMREAD_GRAYSCALE Above changes are to adapt VINS-FUSION to opencv4
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- Now you would successfully make it, but you need to doublecheck whether there is an opencv2 file in you environment, because in opencv4 it appears be a subfolder of opencv4
https://github.com/rkuo2000/VINS-Fusion/ Fixes: CMakeFiles.txt: set(CMAKE_CXX_FLAGS "-std=c++14") camera_models/chessboard/Chessboard.cc: #include <opencv2/imgproc/types_c.h> camera_models/chessboard/Chessboard.cc: cv::CALIB_CB_ADAPTIVE_THRESH, cv::CALIB_CB_NORMALIZE_IMAGE, cv::CALIB_CB_FILTER_QUADS, cv::CALIB_CB_FAST_CHECK camera_models/src/intrinsic_calib.cc: #include <opencv2/imgproc/imgproc_c.h> camera_models/src/calib/CameraCalibration.cc: #include <opencv2/imgproc/types_c.h>, #include <opencv2/imgproc/imgproc_c.h> loop_fusion/src/ThirdParty/DVision/BRIEF.cpp: #include <opencv2/imgproc/types_c.h> loop_fusion/src/pose_graph.cpp: cv::FONT_HERSHEY_SIMPLEX loop_fusion/src/keyframe.cpp: cv::FONT_HERSHEY_SIMPLEX
This fork is adapted for OpenCV 4, Ceres 2.1. Tested with ROS Noetic, but it might work on Kinetic. Fork: https://github.com/guisoares9/VINS-Fusion
opencv version problem, you can revise the CMakeList.txt in camera_models;
if you installed both opencv 3 and 4, then find_package(OpenCV REQUIRED) will probably find opencv 4, so you need to change it to OpenCV 3 REQUIRED I guess
Here's my fork for OpenCV 4.2 (detail code modification are listed in the ReadMe.md) https://github.com/rkuo2000/VINS-Fusion/
I added Github Actions to automatically build Docker images of VINS-Fusion running on ROS Noetic, https://github.com/rosblox/ros-vins-fusion.
The Docker image can be pulled with
docker pull ghcr.io/rosblox/ros-vins-fusion:noetic
Maybe this helps running VINS-Fusion quickly.
