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HKUST-Aerial-Robotics / VINS-Fusion

An optimization-based multi-sensor state estimator
GNU General Public License v3.0
3.39k stars 1.37k forks source link

VINS-fusion on Ubuntu 20.04 #167

Open peppegti opened 2 years ago

peppegti commented 2 years ago

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);
        |                                                        ^~~~~~~~~~~~~~~~~~~~
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  [ 26%] Built target image_geometry
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  [ 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
MinnDevelopment commented 2 years ago

Have you tried downgrading to OpenCV version 3?

lnexenl commented 2 years ago

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.

WipetheSmlie commented 2 years ago

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:

  1. 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.

  2. Add some head files to these "error" files, according to my own experience:

    1. In the head file in /camera_model, which is "Chessboard.h", add:

      include <opencv2/imgproc/types_c.h>

      include <opencv2/calib3d/balib3d_c.h>

    2. In "CameraCalibration.h", add:

      include <opencv2/imgproc/types_c.h>

      include <opencv2/imgproc/imgproc_c.h>

    3. In "loop_fusion/src/VRIEF.h", add:

      include <opencv2/imgproc/types_c.h>

    4. In "loop_fusion/src/pose_graph.cpp", revise: CV_FONT_HERSHEY_SIMPLEX -> cv::FONT_HERSHEY_SIMPLEX

    5. In "vins_estimator/src/feature_tracker.h", add:

      include <opencv2/highgui.hpp>

      include <opencv2/cvconfig.h>

      include <opencv2/imgproc/types_c.h>

    6. 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

  3. 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
rkuo2000 commented 2 years ago

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

guisoares9 commented 1 year ago

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

JaimeParker commented 1 year ago

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

rkuo2000 commented 1 year ago

Here's my fork for OpenCV 4.2 (detail code modification are listed in the ReadMe.md) https://github.com/rkuo2000/VINS-Fusion/

maxpolzin commented 1 year ago

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.