s-trinh
commented
3 years ago I did some quick tests and I have no issue with the following:
CMakeLists.txt
cmake_minimum_required(VERSION 3.0.2)
project(mir_vision)
set( sample_dir ${CMAKE_CURRENT_SOURCE_DIR}/src/)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
)
find_package(VISP REQUIRED
visp_core
visp_mbt
visp_io
visp_gui
visp_sensor
)
catkin_package( CATKIN_DEPENDS roscpp rospy std_msgs )
include_directories(
${catkin_INCLUDE_DIRS}
${VISP_INCLUDE_DIRS}
)
add_executable(tutorial-viewer ${sample_dir}tutorial-grabber-realsense.cpp)
target_link_libraries(tutorial-viewer ${VISP_LIBRARIES} ${catkin_LIBRARIES})I have removed find_package(realsense2 REQUIRED) since ViSP is already built with librealsense support, but I have tested also with find_package(realsense2 REQUIRED) and the other things without no issue.
package.xml
<?xml version="1.0"?>
<package format="2">
<name>mir_vision</name>
<version>1.0.0</version>
<description>mir_vision</description>
<maintainer email="first.last@email.com">First Last</maintainer>
<license>Apache 2.0</license>
<buildtool_depend>catkin</buildtool_depend>
<depend>roscpp</depend>
<depend>rospy</depend>
<depend>std_msgs</depend>
</package>I have also cloned realsense-ros in the catkin_ws and everything build (using catkin_make) and run normally (roslaunch realsense2_camera rs_camera.launch works): rosrun mir_vision tutorial-viewer works correctly (this is actually the tutorial-grabber-realsense.cpp code that is running to check that frame grabbing works).
On my computer echo $VISP_DIR points to /.../ViSP/ViSP-build folder and echo $realsense2_DIR points to /.../librealsense/build/install/lib/cmake/realsense2.
And ldd devel/lib/mir_vision/tutorial-viewer | grep realsense gives librealsense2.so.2.41 => /.../librealsense/build/install/lib/librealsense2.so.2.41.
You should check that ViSP was built with librealsense support (copy/paste the ViSP-third-party.txt file in the ViSP build folder).
You can run also the tutorial-grabber-realsense.cpp to confirm there is no issue with ViSP and RealSense support.
Finally, I am still on Ubuntu 16.04 and ROS Kinetic but this should not be related.
HartmannSa
fspindle
Hi,
I tried to compile example code like "tutorial-viewer.cpp" or "tutorial-mb-generic-tracker-rgbd-realsense.cpp" with
catkin build mir_visionin my catkin workspace and got this error message:I use Ubuntu 18.04 LTS with Kernel 5.4.0-64-generic and ROS Melodic.
I installed ViSP from Source following these steps https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-install-ubuntu.html .
For installing Realsense2 I followed this steps https://dev.intelrealsense.com/docs/compiling-librealsense-for-linux-ubuntu-guide . Runnig
locate librealsense2.soresults in:I can successfully run all examples or tutorials in the ViSP folder. I wonder what I have to change to run/build the tutorials in my catkin workspace.
I created a catkin package "mir_vision" and copied the .cpp's into mir_vision/src. My folder structure looks like this:
My CMakeLists.txt inside the mir_vision folder:
I tried to change the CMakeLists.txt and tested commands like:
I found a somehow similar issue #620, however this is on Windows and I can not find folders where realsense2.lib or realsense2.dll are located.
Moreover I found the vision_visp ROS package ( http://wiki.ros.org/vision_visp ). Should I rather just install this package (from source or from prebuild packages)? However, it seems to me that this package includes only a part of all functions/classes of the ViSP library. Am I right?
I thought I can "simply" link ViSP (like OpenCV) as a 3rd party library to my .cpp files. But here (https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-getting-started.html) it seems that I have to build ViSP where I want to use it too.
My aim is to use ViSP (classes, functions, examples, etc) in my catkin workspace for object detection and tracking with a Realsense D435.
Since I don't have much experience with c++ and Ubuntu, I lack the background knowledge to find a solution or the cause of this problem. I appreciate any help or explanation.
Reproduce