目标检测---Segmentation Is All You Need

Segmentation Is All You Need

https://www.jiqizhixin.com/articles/2019-06-02-2

目前目标检测算法中有两个模块比较重要: region proposal networks (RPNs) 和 non-maximum suppression (NMS) ,虽然这两个模块解决目标检测中的一些问题,但是它们也引入了一些难以克服的问题。
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边界框(Bounding Box)不应该存在

虽然 anchor 的存在减少了很多计算量,但是也带来了超参数增加、人为调参过拟合评测数据集、前后景目标类别不平衡等一系列令人头疼的问题。

让我们回到边界框的本质。所有的边界框其实都是一种无限制保证前景物体像素召回率的标注方式,它会尽可能贴着外轮廓,因此会导致背景像素大量进入框内。然而,真实世界的物体可以随意转动,不同的机位拍一个 3D 物体出现的结果可以大不相同,因此用框作为一个表征工具来把东西框起来,本身就不稳健。而且,框的标注本身也带有一定的随机性,毕竟要遵守标注规则把框标得非常好可能花的成本也会很高。

非极大值抑制(NMS)不应该存在

NMS 是一项很神奇的工作,目标检测领域用 NMS 作为选框策略已经有大概几十年了,因为没有一项工作能超越它。然而如上所述,既然边界框本身并不稳健,选出的框再优秀也无济于事。更何况选出的框也不会格外优秀,因为真实世界里不可能有一个具体的阈值来控制所有的场景,例如遮挡问题。现实世界中的遮挡问题十分复杂,挡了一部分和挡了一大半完全不是同一种情况。既然如此,用一个单一的阈值怎么可能解决问题?事实上,在之前的工作中,动态调整 NMS 的 SoftNMS、动态调整 IoU 的 Cascade RCNN 方案都取得了很不错的结果,但是前者依然回避了「复杂遮挡」的复杂性,后者参数量激增,速度慢到难以想象。

如上所言,边界框靠不住,NMS 也靠不住。

那么为什么不直接做分割?分割存在哪些问题?

分割(segmentation)的问题所在

Anchor Free 方法已经不新鲜了,相信这些问题早已经让一些一线工作的研究人员头疼很久了。那么为什么难?

分割糊成一团,很难用;

分割很贵;

YOLO 又快又简单,能满足客户要求。

第一个问题用 Instance Aware 可以解决,但为了完成 Instance Aware,计算量可能增加;第二个问题几乎无解;第三个问题主要还是 YOLO 太出名,darknet 写的是真的好,而后得过且过。

这里我们还是走分割的路线。
本文提出的方法为 WSMA-Seg,包括 训练阶段和测试阶段。
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训练阶段首先将矩形框标记的训练图像转化为分割训练图像。
Generating Multimodal Annotations
这里我们将矩形框标记信息变为三类信息: the interior, the boundary, and the boundary on the interior of geometries

分割网络模型
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MSP-Seg is trained to learn three heatmaps for each image, which are called interior heatmap, boundary heatmap, and boundary on interior heatmap, respectively

MSP-Seg 的输出就是 interior heatmap, boundary heatmap, and boundary on interior heatmap

测试阶段,首先用 MSP-Seg 得到 interior heatmap, boundary heatmap, and boundary on interior heatmap
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接着我们根据输出的三类信息得到 instance-aware segmentation map,然后提取每个物体的轮廓

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实验结果:
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这里没有 Yolo 进行对比,再就是速度应该是比较慢啊

11

下面是我按照你的思路执行指令后终端打印的结果(base) casbot@casbot:~/ros_catkin_ws$ # 备份原文件 sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak # 使用清华源(Ubuntu 22.04) sudo sed -i 's@//.*archive.ubuntu.com@//mirrors.tuna.tsinghua.edu.cn@g' /etc/apt/sources.list sudo apt update && sudo apt upgrade -y Ign:1 http://deb.repo.autolabor.com.cn jammy InRelease Ign:2 http://deb.repo.autolabor.com.cn jammy Release Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:4 http://deb.repo.autolabor.com.cn jammy/main amd64 Packages Hit:5 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy InRelease Ign:6 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Hit:7 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates InRelease Ign:4 http://deb.repo.autolabor.com.cn jammy/main amd64 Packages Hit:8 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-backports InRelease Ign:6 http://deb.repo.autolabor.com.cn jammy/main Translation-en Hit:9 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-security InRelease Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Get:10 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy InRelease [4682 B] Hit:11 http://packages.ros.org/ros/ubuntu focal InRelease Ign:4 http://deb.repo.autolabor.com.cn jammy/main amd64 Packages Ign:6 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Hit:4 http://deb.repo.autolabor.com.cn jammy/main amd64 Packages Ign:6 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:6 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:6 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:6 http://deb.repo.autolabor.com.cn jammy/main Translation-en Fetched 4682 B in 3s (1850 B/s) Reading package lists... Done Building dependency tree... Done Reading state information... Done 80 packages can be upgraded. Run 'apt list --upgradable' to see them. Reading package lists... Done Building dependency tree... Done Reading state information... Done Calculating upgrade... Done Get more security updates through Ubuntu Pro with 'esm-apps' enabled: exo-utils libzvbi-common libzbar0 libheif1 libiperf0 libmujs1 libavdevice58 ffmpeg libopenexr25 libpostproc55 libmagickcore-6.q16-6-extra libavcodec58 libgstreamer-plugins-bad1.0-0 iperf3 libmagickwand-6.q16-6 libavutil56 libswscale5 libmagickcore-6.q16-6 libexo-2-0 libgsl27 gir1.2-gst-plugins-bad-1.0 libswresample3 imagemagick-6-common libavformat58 libzvbi0 gstreamer1.0-plugins-bad libgslcblas0 libde265-0 libexo-common libavfilter7 Learn more about Ubuntu Pro at https://ubuntu.com/pro The following NEW packages will be installed: libxcvt-dev The following packages have been kept back: dvb-tools ir-keytable libdvbv5-0 libdvbv5-dev libv4l-0 libv4l-dev libv4l2rds0 libv4lconvert0 qv4l2 v4l-utils xserver-common xserver-xorg-core xserver-xorg-legacy The following packages will be upgraded: apport ghostscript ghostscript-x gir1.2-javascriptcoregtk-4.0 gir1.2-soup-2.4 gir1.2-webkit2-4.0 git git-man libarchive13 libblockdev-crypto2 libblockdev-fs2 libblockdev-loop2 libblockdev-part-err2 libblockdev-part2 libblockdev-swap2 libblockdev-utils2 libblockdev2 libdjvulibre-text libdjvulibre21 libdvbv5-doc libgnutls30 libgs9 libgs9-common libjavascriptcoregtk-4.0-18 libnss-systemd libpam-modules libpam-modules-bin libpam-runtime libpam-systemd libpam0g libprotobuf23 libpython3.10 libpython3.10-dev libpython3.10-minimal libpython3.10-stdlib libre2-9 libsoup-gnome2.4-1 libsoup2.4-1 libsoup2.4-common libssh-4 libssh-gcrypt-4 libsystemd0 libudev1 libudisks2-0 libvpx7 libwebkit2gtk-4.0-37 libxslt1.1 linux-libc-dev python3-apport python3-pip python3-problem-report python3-protobuf python3-requests python3-urllib3 python3.10 python3.10-dev python3.10-minimal sudo systemd systemd-sysv ubuntu-advantage-tools ubuntu-pro-client ubuntu-pro-client-l10n udev udisks2 xserver-xorg-dev xwayland 67 upgraded, 1 newly installed, 0 to remove and 13 not upgraded. 62 standard LTS security updates Need to get 77.1 MB of archives. 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Setting up libsoup-gnome2.4-1:arm64 (2.74.2-3ubuntu0.6) ... Setting up udisks2 (2.9.4-1ubuntu2.2) ... Setting up libpython3.10:arm64 (3.10.12-1~22.04.10) ... Setting up python3.10 (3.10.12-1~22.04.10) ... Setting up gir1.2-soup-2.4:arm64 (2.74.2-3ubuntu0.6) ... Setting up libpython3.10-dev:arm64 (3.10.12-1~22.04.10) ... Setting up python3.10-dev (3.10.12-1~22.04.10) ... Setting up gir1.2-webkit2-4.0:arm64 (2.48.3-0ubuntu0.22.04.1) ... Processing triggers for hicolor-icon-theme (0.17-2) ... Processing triggers for doc-base (0.11.1) ... Processing 1 added doc-base file... Error in `/usr/share/doc-base/libdvbv5-doc.libdvbv5-reference', line 9: all `Format' sections are invalid. Note: `install-docs --verbose --check file_name' may give more details about the above error. Processing triggers for gnome-menus (3.36.0-1ubuntu3) ... Processing triggers for libc-bin (2.35-0ubuntu3.10) ... Processing triggers for man-db (2.10.2-1) ... Processing triggers for dbus (1.12.20-2ubuntu4.1) ... Processing triggers for mailcap (3.70+nmu1ubuntu1) ... Processing triggers for bamfdaemon (0.5.6+22.04.20220217-0ubuntu1) ... Rebuilding /usr/share/applications/bamf-2.index... Processing triggers for desktop-file-utils (0.26-1ubuntu3) ... (base) casbot@casbot:~/ros_catkin_ws$ sudo sh -c 'echo "deb https://mirrors.ustc.edu.cn/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-noetic.list' sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 Warning: apt-key is deprecated. Manage keyring files in trusted.gpg.d instead (see apt-key(8)). Executing: /tmp/apt-key-gpghome.6cqeROMOQT/gpg.1.sh --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 gpg: key F42ED6FBAB17C654: "Open Robotics <info@osrfoundation.org>" not changed gpg: Total number processed: 1 gpg: unchanged: 1 (base) casbot@casbot:~/ros_catkin_ws$ sudo apt update # 安装桌面完整版(约 1.5GB,网络不稳定时分段安装) sudo apt install ros-noetic-desktop-full -y --allow-unauthenticated Ign:1 http://deb.repo.autolabor.com.cn jammy InRelease Ign:2 http://deb.repo.autolabor.com.cn jammy Release Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:4 http://deb.repo.autolabor.com.cn jammy/main amd64 Packages Ign:5 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:4 http://deb.repo.autolabor.com.cn jammy/main amd64 Packages Ign:5 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:4 http://deb.repo.autolabor.com.cn jammy/main amd64 Packages Ign:5 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:6 https://mirrors.ustc.edu.cn/ros/ubuntu jammy InRelease Hit:4 http://deb.repo.autolabor.com.cn jammy/main amd64 Packages Err:7 https://mirrors.ustc.edu.cn/ros/ubuntu jammy Release 404 Not Found [IP: 202.141.176.110 443] Ign:5 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:5 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:5 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:5 http://deb.repo.autolabor.com.cn jammy/main Translation-en Hit:8 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy InRelease Hit:9 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates InRelease Hit:10 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-backports InRelease Hit:11 http://packages.ros.org/ros/ubuntu focal InRelease Hit:12 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-security InRelease Get:13 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy InRelease [4682 B] Reading package lists... Done E: The repository 'https://mirrors.ustc.edu.cn/ros/ubuntu jammy Release' does not have a Release file. N: Updating from such a repository can't be done securely, and is therefore disabled by default. N: See apt-secure(8) manpage for repository creation and user configuration details. Reading package lists... Done Building dependency tree... Done Reading state information... Done Some packages could not be installed. This may mean that you have requested an impossible situation or if you are using the unstable distribution that some required packages have not yet been created or been moved out of Incoming. The following information may help to resolve the situation: The following packages have unmet dependencies: gazebo11 : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libboost-iostreams1.71.0 but it is not installable Depends: libboost-program-options1.71.0 but it is not installable Depends: libboost-regex1.71.0-icu66 but it is not installable Depends: libboost-thread1.71.0 but it is not installable Depends: libgazebo11 (= 11.15.1-1~focal) but it is not going to be installed Depends: libignition-msgs5 (>= 5.11.0) but it is not going to be installed Depends: libignition-transport8 (>= 8.5.0) but it is not going to be installed Depends: libprotobuf17 but it is not installable Depends: gazebo11-common (>= 11.2.0) but it is not going to be installed Recommends: gazebo11-plugin-base but it is not going to be installed libgazebo11-dev : Depends: libignition-transport8-dev but it is not going to be installed Depends: libignition-msgs5-dev but it is not going to be installed Depends: libignition-fuel-tools4-dev but it is not going to be installed Depends: libignition-common3-dev but it is not going to be installed Depends: libignition-common3-graphics-dev but it is not going to be installed Depends: libdart6-collision-bullet-dev (< 6.10.0) but it is not installable or libdart-collision-bullet-dev (< 6.10.0) but it is not going to be installed Depends: libdart6-collision-ode-dev (< 6.10.0) but it is not installable or libdart-collision-ode-dev (< 6.10.0) but it is not going to be installed Depends: libdart6-utils-urdf-dev (< 6.10.0) but it is not installable or libdart-utils-urdf-dev (< 6.10.0) but it is not going to be installed Depends: libdart6-external-odelcpsolver-dev (< 6.10.0) but it is not installable or libdart-external-odelcpsolver-dev (< 6.10.0) but it is not going to be installed Depends: libdart6-external-ikfast-dev (< 6.10.0) but it is not installable or libdart-external-ikfast-dev (< 6.10.0) but it is not going to be installed Depends: libgazebo11 (= 11.15.1-1~focal) but it is not going to be installed Depends: gazebo11-common (>= 11.2.0) but it is not going to be installed Depends: gazebo11-plugin-base (= 11.15.1-1~focal) but it is not going to be installed libicu-dev : Depends: libicu70 (= 70.1-2) but 70.1-2ubuntu1 is to be installed libjsoncpp-dev : Depends: libjsoncpp25 (= 1.9.5-3) but 1.9.5-3ubuntu0.1 is to be installed ros-noetic-actionlib : Depends: libboost-thread1.71.0 but it is not installable ros-noetic-actionlib-tutorials : Depends: libboost-thread1.71.0 but it is not installable ros-noetic-bondcpp : Depends: libboost-thread1.71.0 but it is not installable ros-noetic-camera-calibration-parsers : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libboost-python1.71.0 but it is not installable Depends: libboost-python1.71.0-py38 but it is not installable Depends: libpython3.8 (>= 3.8.2) but it is not installable Depends: libyaml-cpp0.6 (>= 0.6.2) but it is not installable ros-noetic-class-loader : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libpocofoundation62 (>= 1.9.2) but it is not installable ros-noetic-compressed-depth-image-transport : Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgcodecs4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-compressed-image-transport : Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgcodecs4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-controller-manager : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable ros-noetic-cpp-common : Depends: libconsole-bridge0.4 but it is not installable ros-noetic-cv-bridge : Depends: libboost-python1.71.0 but it is not installable Depends: libboost-python1.71.0-py38 but it is not installable Depends: libboost-regex1.71.0-icu66 but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgcodecs4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libpython3.8 (>= 3.8.2) but it is not installable ros-noetic-depth-image-proc : Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-calib3d4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-diagnostic-aggregator : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libboost-regex1.71.0-icu66 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable ros-noetic-diagnostic-common-diagnostics : Depends: hddtemp but it is not installable ros-noetic-diff-drive-controller : Depends: libconsole-bridge0.4 but it is not installable Depends: liburdfdom-model but it is not installable ros-noetic-eigen-conversions : Depends: liborocos-kdl1.4 but it is not installable ros-noetic-filters : Depends: libconsole-bridge0.4 but it is not installable ros-noetic-gazebo-plugins : Depends: libboost-thread1.71.0 but it is not installable Depends: libgazebo11 (>= 11.15.1) but it is not going to be installed Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libprotobuf17 but it is not installable ros-noetic-gazebo-ros : Depends: libboost-thread1.71.0 but it is not installable Depends: libgazebo11 (>= 11.15.1) but it is not going to be installed Depends: libprotobuf17 but it is not installable ros-noetic-gazebo-ros-control : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libboost-thread1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libgazebo11 (>= 11.15.1) but it is not going to be installed Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable Depends: ros-noetic-transmission-interface but it is not going to be installed ros-noetic-image-geometry : Depends: libopencv-calib3d4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-image-proc : Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-image-publisher : Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgcodecs4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-videoio4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-image-rotate : Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-image-transport : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable ros-noetic-image-view : Depends: libboost-thread1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-highgui4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgcodecs4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-videoio4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-interactive-markers : Depends: libboost-thread1.71.0 but it is not installable ros-noetic-joint-state-controller : Depends: libconsole-bridge0.4 but it is not installable ros-noetic-kdl-conversions : Depends: liborocos-kdl1.4 but it is not installable ros-noetic-kdl-parser : Depends: liborocos-kdl1.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable Depends: liburdfdom-model but it is not installable ros-noetic-laser-assembler : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable ros-noetic-laser-filters : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable ros-noetic-laser-geometry : Depends: libboost-thread1.71.0 but it is not installable ros-noetic-nodelet : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libboost-thread1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable ros-noetic-nodelet-tutorial-math : Depends: libconsole-bridge0.4 but it is not installable ros-noetic-pcl-ros : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libpcl-common1.10 (>= 1.10.0+dfsg) but it is not installable Depends: libpcl-features1.10 (>= 1.10.0+dfsg) but it is not installable Depends: libpcl-filters1.10 (>= 1.10.0+dfsg) but it is not installable Depends: libpcl-io1.10 (>= 1.10.0+dfsg) but it is not installable Depends: libpcl-search1.10 (>= 1.10.0+dfsg) but it is not installable Depends: libpcl-segmentation1.10 (>= 1.10.0+dfsg) but it is not installable Depends: libpcl-surface1.10 (>= 1.10.0+dfsg) but it is not installable ros-noetic-pluginlib : Depends: libboost-filesystem1.71.0 but it is not installable ros-noetic-pluginlib-tutorials : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable ros-noetic-position-controllers : Depends: libconsole-bridge0.4 but it is not installable ros-noetic-robot-state-publisher : Depends: liborocos-kdl1.4 but it is not installable Depends: liburdfdom-world but it is not installable ros-noetic-rosbag : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libboost-program-options1.71.0 but it is not installable Depends: libboost-regex1.71.0-icu66 but it is not installable Depends: libboost-thread1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: ros-noetic-rosbag-storage but it is not going to be installed ros-noetic-rosconsole : Depends: libboost-regex1.71.0-icu66 but it is not installable Depends: liblog4cxx10v5 (>= 0.10.0) but it is not installable ros-noetic-rosconsole-bridge : Depends: libconsole-bridge0.4 but it is not installable ros-noetic-roscpp : Depends: libboost-chrono1.71.0 but it is not installable Depends: libboost-filesystem1.71.0 but it is not installable Depends: libboost-thread1.71.0 but it is not installable ros-noetic-roscpp-tutorials : Depends: libboost-thread1.71.0 but it is not installable ros-noetic-rospack : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libboost-program-options1.71.0 but it is not installable Depends: libpython3.8 (>= 3.8.2) but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable ros-noetic-rqt-image-view : Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable Depends: ros-noetic-rqt-gui-cpp but it is not going to be installed ros-noetic-rqt-rviz : Depends: libboost-program-options1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: ros-noetic-rqt-gui-cpp but it is not going to be installed ros-noetic-rviz : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libboost-program-options1.71.0 but it is not installable Depends: libboost-thread1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable Depends: liburdfdom-world but it is not installable Depends: libyaml-cpp0.6 (>= 0.6.2) but it is not installable ros-noetic-rviz-plugin-tutorials : Depends: libboost-thread1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable ros-noetic-stage-ros : Depends: libboost-thread1.71.0 but it is not installable ros-noetic-stereo-image-proc : Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-calib3d4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-tf : Depends: libboost-thread1.71.0 but it is not installable ros-noetic-tf-conversions : Depends: liborocos-kdl1.4 but it is not installable ros-noetic-tf2 : Depends: libconsole-bridge0.4 but it is not installable ros-noetic-tf2-ros : Depends: libboost-thread1.71.0 but it is not installable Depends: ros-noetic-tf2-py but it is not going to be installed ros-noetic-theora-image-transport : Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-turtle-actionlib : Depends: libboost-thread1.71.0 but it is not installable ros-noetic-urdf : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable Depends: liburdfdom-model but it is not installable E: Unable to correct problems, you have held broken packages.我执行到第三步后出现报错,请在此基础上给我能够成功安装ros1的操作步骤
最新发布
07-23
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