ubuntu20运行VINS-Fusion报错

最新推荐文章于 2024-10-16 22:41:57 发布

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最新推荐文章于 2024-10-16 22:41:57 发布

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分类专栏：踩坑笔记文章标签： opencv 计算机视觉 c++

本文链接：https://blog.youkuaiyun.com/m0_46905397/article/details/129331982

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博客主要讲述在Ubuntu20系统运行VINS-Fusion时遇到的报错问题。使用catkin_make报错可在优快云解决，但启动vins_node节点会出现“段错误”，原因是cv::FileStorage读取yaml文件报错，解决方案是在camera_models里将cmakelist的opencv版本改为4。

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ubuntu20运行VINS-Fusion报错

Ubuntu20运行VINS-Fusion，catkin_make报错可以csdn解决；

但是启动vins_node节点的时候，就会显示“段错误”，这是因为cv::FileStorage读取yaml文件的时候，报错了；

解决方案：

在camera_models中，把cmakelist的opencv版本改为4；

cmake_minimum_required(VERSION 2.8.3)
project(camera_models)

set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -fPIC")

find_package(catkin REQUIRED COMPONENTS
    roscpp
    std_msgs
    )

find_package(Boost REQUIRED COMPONENTS filesystem program_options system)
include_directories(${Boost_INCLUDE_DIRS})

**find_package(OpenCV 4 REQUIRED)**

# set(EIGEN_INCLUDE_DIR "/usr/local/include/eigen3")
find_package(Ceres REQUIRED)
include_directories(${CERES_INCLUDE_DIRS})


catkin_package(
    INCLUDE_DIRS include
    LIBRARIES camera_models
    CATKIN_DEPENDS roscpp std_msgs
#    DEPENDS system_lib
    )

include_directories(
    ${catkin_INCLUDE_DIRS}
    )

include_directories("include")

add_executable(Calibrations 
    src/intrinsic_calib.cc
    src/chessboard/Chessboard.cc
    src/calib/CameraCalibration.cc
    src/camera_models/Camera.cc
    src/camera_models/CameraFactory.cc
    src/camera_models/CostFunctionFactory.cc
    src/camera_models/PinholeCamera.cc
    src/camera_models/PinholeFullCamera.cc
    src/camera_models/CataCamera.cc
    src/camera_models/EquidistantCamera.cc
    src/camera_models/ScaramuzzaCamera.cc
    src/sparse_graph/Transform.cc
    src/gpl/gpl.cc
    src/gpl/EigenQuaternionParameterization.cc)

add_library(camera_models
    src/chessboard/Chessboard.cc
    src/calib/CameraCalibration.cc
    src/camera_models/Camera.cc
    src/camera_models/CameraFactory.cc
    src/camera_models/CostFunctionFactory.cc
    src/camera_models/PinholeCamera.cc
    src/camera_models/PinholeFullCamera.cc
    src/camera_models/CataCamera.cc
    src/camera_models/EquidistantCamera.cc
    src/camera_models/ScaramuzzaCamera.cc
    src/sparse_graph/Transform.cc
    src/gpl/gpl.cc
    src/gpl/EigenQuaternionParameterization.cc)

target_link_libraries(Calibrations ${Boost_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES})
target_link_libraries(camera_models ${Boost_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES})