Problem with the definition

[Gatsby23]

Sorry for troubing you, but when I complie the code, I met this error:

/usr/bin/ld: warning: libopencv_core.so.3.4, needed by /home/robotics/project_comment/VIO_Study/VINSFishEye_WorkSpace/devel/lib/libcamera_models.so, may conflict with libopencv_core.so.3.2
/home/robotics/project_comment/VIO_Study/VINSFishEye_WorkSpace/devel/lib/libestimator_lib.so: undefined reference to `FeatureTracker::PinholeFeatureTracker<cv::Mat>::undistortedPts(std::vector<cv::Point_<float>, std::allocator<cv::Point_<float> > >&, boost::shared_ptr<camodocal::Camera>)'
collect2: error: ld returned 1 exit status
VINS-Fisheye/vins_estimator/CMakeFiles/vins_node.dir/build.make:297: recipe for target '/home/robotics/project_comment/VIO_Study/VINSFishEye_WorkSpace/devel/lib/vins/vins_node' failed
make[2]: *** [/home/robotics/project_comment/VIO_Study/VINSFishEye_WorkSpace/devel/lib/vins/vins_node] Error 1
CMakeFiles/Makefile2:952: recipe for target 'VINS-Fisheye/vins_estimator/CMakeFiles/vins_node.dir/all' failed
make[1]: *** [VINS-Fisheye/vins_estimator/CMakeFiles/vins_node.dir/all] Error 2
Makefile:145: recipe for target 'all' failed
make: *** [all] Error 2

I have found the code at src, but don't know why it still show this error

[xuhao1]

@Gatsby23 You are mixing the different OpenCV version. Try to clone vision_opencv in your workspace and rebuild

[Gatsby23]

@Gatsby23 You are mixing the different OpenCV version. Try to clone vision_opencv in your workspace and rebuild

Thank you for your reply. Recently, I'm researching at the dual fisheye and the calibration is bothering me a lot. Sorry for bothering you again, which calibration tools have you test？

[xuhao1]

@Gatsby23 you may take a look at this file https://github.com/HKUST-Swarm/camera_model/blob/master/scripts/calib_bag.py

[ruanyudi]

sorry to bother you, what about this Error? /home/tacs/vins_fisheye_ws/devel/lib/libestimator_lib.so: undefined reference to FeatureTracker::PinholeFeatureTracker<cv::cuda::GpuMat>::addPoints() /home/tacs/vins_fisheye_ws/devel/lib/libestimator_lib.so: undefined reference to FeatureTracker::PinholeFeatureTracker<cv::Mat>::addPoints() collect2: error: ld returned 1 exit status VINS-Fisheye/vins_estimator/CMakeFiles/vins_node.dir/build.make:302: recipe for target '/home/tacs/vins_fisheye_ws/devel/lib/vins/vins_node' failed make[2]: *** [/home/tacs/vins_fisheye_ws/devel/lib/vins/vins_node] Error 1 CMakeFiles/Makefile2:3692: recipe for target 'VINS-Fisheye/vins_estimator/CMakeFiles/vins_node.dir/all' failed make[1]: *** [VINS-Fisheye/vins_estimator/CMakeFiles/vins_node.dir/all] Error 2 Makefile:145: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j20 -l20" failed

[Gatsby23]

@Gatsby23 you may take a look at this file https://github.com/HKUST-Swarm/camera_model/blob/master/scripts/calib_bag.py

Sorry for troubling you again with a simple question[捂脸]: What is the corresponding camera model in the VINS-Fisheye corresponding to the FOV camera model in the calibration project?

[Gatsby23]

@Gatsby23 you may take a look at this file https://github.com/HKUST-Swarm/camera_model/blob/master/scripts/calib_bag.py

Sorry for bothering you again. I have tested this tool yesterday, but it always shows that it didn't detect the chessboard. Should I move the chessboard away from the camera? Here is my detection result: By the way, Is there any other tips to optimize the calibration result?

[zhangyangcc]

sorry to bother you, what about this Error? /home/tacs/vins_fisheye_ws/devel/lib/libestimator_lib.so: undefined reference to FeatureTracker::PinholeFeatureTracker<cv::cuda::GpuMat>::addPoints() /home/tacs/vins_fisheye_ws/devel/lib/libestimator_lib.so: undefined reference to FeatureTracker::PinholeFeatureTracker<cv::Mat>::addPoints() collect2: error: ld returned 1 exit status VINS-Fisheye/vins_estimator/CMakeFiles/vins_node.dir/build.make:302: recipe for target '/home/tacs/vins_fisheye_ws/devel/lib/vins/vins_node' failed make[2]: *** [/home/tacs/vins_fisheye_ws/devel/lib/vins/vins_node] Error 1 CMakeFiles/Makefile2:3692: recipe for target 'VINS-Fisheye/vins_estimator/CMakeFiles/vins_node.dir/all' failed make[1]: *** [VINS-Fisheye/vins_estimator/CMakeFiles/vins_node.dir/all] Error 2 Makefile:145: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j20 -l20" failed

Hi ,i move the defination of function "PinholeFeatureTrackerCPU::trackImage" into file "feature_tracker_pinhole.cpp" and it works.