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HKUST-Aerial-Robotics / VINS-Fusion

An optimization-based multi-sensor state estimator
GNU General Public License v3.0
3.45k stars 1.37k forks source link

VINS Fusion support for Ubuntu 20.04 with Ceres Solver 2.0.0 #187

Open stevenf7 opened 2 years ago

stevenf7 commented 2 years ago

Updated OpenCV and C++ requirements to support Ubuntu 20.04, ROS Noetic, and Ceres Solver v2.0.0

MadlyFX commented 2 years ago

Throws this when using the Realsense D435I config:

terminate called after throwing an instance of 'cv::Exception'
  what():  OpenCV(4.2.0) /home/andy/opencv/modules/video/src/lkpyramid.cpp:1257: error: (-215:Assertion failed) maxLevel >= 0 && winSize.width > 2 && winSize.height > 2 in function 'calc'

Aborted (core dumped)
2B-people commented 2 years ago

Amazing! Worked on Ubuntu 20.04, ROS Noetic,OpenCV4

Buttosaii commented 2 years ago

I am using Ubuntu 20.04 and Noetic too, how can I use this branch instead of the main branch? Thanks!

stevenf7 commented 2 years ago

I am using Ubuntu 20.04 and Noetic too, how can I use this branch instead of the main branch? Thanks!

Nice, you can go to my repo and clone that directly

Buttosaii commented 2 years ago

WOW! Thank you so much! I managed to build it without any errors. Can i check with you if ur repo performs exactly the same as the main repo, or is there any difference I should take note of?

stevenf7 commented 2 years ago

WOW! Thank you so much! I managed to build it without any errors. Can I check with you if ur repo performs exactly the same as the main repo, or is there any difference I should take note of?

It should work exactly the same as the original repo.

Buttosaii commented 2 years ago

Hi @stevenf7, can I seek your advice regarding converting 18.04 repo to 20.04. I recently bought a new laptop which is facing a lot of issues when dual booting 18.04. However, I wouldn't want to put the laptop to waste, thus my next alternative would be to dual boot it with 20.04, and run VINS-Fusion & GVINS on 20.04. However, due to my lack of experience, is it possible for you to guide me through the steps? Also, is it possible for me to contact you personally?

Your help would be greatly appreciated! Thank you!

stevenf7 commented 1 year ago

Hi Buttosaii, Thank you for reaching out and apologize for the late rely, I have been busy with school. I don't have much advice other than looking at the dependencies of each package to see what needs to be updates, possibly modify the C++ version in the cmake file, and check the error when you are compiling it. Perhaps you may also verify it has already been done via the issues: https://github.com/HKUST-Aerial-Robotics/GVINS/issues and maybe check out this PR: https://github.com/HKUST-Aerial-Robotics/GVINS/pull/13/commits Best of luck! Steven

jaku-jaku commented 1 year ago

@stevenf7 Thanks for the work! (Additional Tip: Install Ceres 1.14.0, will not work with Ceres 2.x.x)