Some errors occured during catkin build -DCMAKE_BUILD_TYPE=Release -j4

Tsingkai commented 2 years ago

Environment

OS: Ubuntu 20.04LTS
OpenCV: 3.4.1
python3: 3.8
python2: 2.7

Errors

1.OpenCV? （Solved by Reference ）

kalibr_workspace/src/Kalibr/aslam_offline_calibration/ethz_apriltag2/src/example/apriltags_demo.cpp: In member function ‘void Demo::setup()’:
kalibr_workspace/src/Kalibr/aslam_offline_calibration/ethz_apriltag2/src/example/apriltags_demo.cpp:305:15: error: ‘CV_CAP_PROP_FRAME_WIDTH’ was not declared in this scope
  305 |     m_cap.set(CV_CAP_PROP_FRAME_WIDTH, m_width);
      |               ^~~~~~~~~~~~~~~~~~~~~~~
kalibr_workspace/src/Kalibr/aslam_offline_calibration/ethz_apriltag2/src/example/apriltags_demo.cpp:306:15: error: ‘CV_CAP_PROP_FRAME_HEIGHT’ was not declared in this scope
  306 |     m_cap.set(CV_CAP_PROP_FRAME_HEIGHT, m_height);
      |               ^~~~~~~~~~~~~~~~~~~~~~~~
kalibr_workspace/src/Kalibr/aslam_offline_calibration/ethz_apriltag2/src/example/apriltags_demo.cpp: In member function ‘void Demo::loop()’:
kalibr_workspace/src/Kalibr/aslam_offline_calibration/ethz_apriltag2/src/example/apriltags_demo.cpp:383:39: error: ‘CV_BGR2GRAY’ was not declared in this scope
  383 |       cv::cvtColor(image, image_gray, CV_BGR2GRAY);

I solve this problem by this

#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/highgui/highgui_c.h>

2.What's this?（Solved by Reference ）

/usr/include/python3.8/numpy/__multiarray_api.h:1541:35: error: return-statement with a value, in function returning ‘void’ [-fpermissive]
 1541 | #define NUMPY_IMPORT_ARRAY_RETVAL NULL
      |                                   ^~~~
/usr/include/python3.8/numpy/__multiarray_api.h:1546:151: note: in expansion of macro ‘NUMPY_IMPORT_ARRAY_RETVAL’
 1546 | #define import_array() {if (_import_array() < 0) {PyErr_Print(); PyErr_SetString(PyExc_ImportError, "numpy.core.multiarray failed to import"); return NUMPY_IMPORT_ARRAY_RETVAL; } }

3. Sorry I can't,QwQ （Solved by #359 ）

kalibr_workspace/src/Kalibr/aslam_cv/aslam_imgproc/include/aslam/implementation/PinholeUndistorter.hpp:112:86: error: could not convert ‘cv::Size_<int>(width, height)’ from ‘cv::Size’ {aka ‘cv::Size_<int>’} to ‘CvSize’
  112 |   idealCameraMatrix = aslamcv_helper::getOptimalNewCameraMatrix<distorted_geometry_t>(
      |                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
      |                                                                                      |
      |                                                                                      cv::Size {aka cv::Size_<int>}
  113 |                                                         _distortedGeometry, cv::Size(width, height),
      |                                                         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  114 |                                                         alpha, cv::Size(newWidth, newHeight));
      |                                                         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

I find solution #359

4. error: no matching function for call to ‘icvGetRectangles

kalibr_workspace/src/Kalibr/aslam_cv/aslam_imgproc/include/aslam/implementation/aslamcv_helper.hpp:99:19: error: no matching function for call to ‘icvGetRectangles(boost::shared_ptr<aslam::cameras::CameraGeometry<aslam::cameras::PinholeProjection<aslam::cameras::RadialTangentialDistortion>, aslam::cameras::GlobalShutter, aslam::cameras::ImageMask> >&, cv::Size&, cv::Rect_<float>&, cv::Rect_<float>&)’
   99 |   icvGetRectangles(camera_geometry, imgSize, inner, outer);
      |   ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Reference

Ubuntu 20.04 + ROS Noetic + OpenCV 4.10编译kalibr相机标定功能包(This can't solve all errors I met)
I find some interesting things in #396 .If your environment is like mine ,you will be interesting in this!

Success!

https://github.com/ori-drs/kalibr Checkout this repository，I replaced all files that had errors during compilation, and then I succeeded. It fixes all syntax problems, opencv and python3.

SasaKuruppuarachchi commented 2 years ago

Thank you very much for sharing. I saved a lot of time.

I just needed to do sudo apt-get install libsuitesparse-dev

Tsingkai commented 2 years ago

Thank you very much for sharing. I saved a lot of time.

I just needed to do sudo apt-get install libsuitesparse-dev

I think that you should use the comands to test the result, such as kelibr_bagcreator .I faild ! I found many python syntax errors and some functions are not included in so files.

best wishes to you!

If you succeed, hope your reply……

goldbattle commented 2 years ago

Hi please try PR https://github.com/ethz-asl/kalibr/pull/515 to see if that solves your issue.

ethz-asl / kalibr