Ubuntu20 安装 VINS
Ubuntu20 安装 VINS

Ubuntu20 安装 VINS

所需环境

ROS 安装

全自动安装有手就行(rostaller

ceres-solver

sudo apt install libgoogle-glog-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev liblapack-dev libcxsparse3 libgflags-dev libgtest-dev

需要1.14.0 版本

git clone https://github.com/ceres-solver/ceres-solver.git -b 1.14.0
cd ceres-solver
mkdir build && cd build
cmake ..
make -j4
sudo make install

编译VINS-Fusion

在camera_model/include/camodocal/chessboard/Chessboard.h中添加

#include <opencv2/imgproc/types_c.h>
#include <opencv2/calib3d/calib3d_c.h>

在camera_model/include/camodocal/calib/CameraCalibration.h中添加

#include <opencv2/imgproc/types_c.h>
#include <opencv2/imgproc/imgproc_c.h>
cd ~/catkin_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git
cd ..
catkin_make

报错

error: ‘CV_FONT_HERSHEY_SIMPLEX’ was not declared in this scope

在报错的文件添加头文件

#include <opencv2/imgproc/types_c.h>

error: ‘CV_RGB2GRAY’ was not declared in this scope

在报错的文件添加头文件

#include <opencv2/imgproc/types_c.h>

error: ‘CV_LOAD_IMAGE_GRAYSCALE’ was not declared in this scope

将报错文件上的CV_LOAD_IMAGE_GRAYSCALE改为cv::IMREAD_GRAYSCALE

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