openvins官网

Getting Started » Installation Guide (ROS1 and ROS2) | OpenVINS

Ubuntu 18.04 ROS 1 Melodic (uses OpenCV 3.2)

这里他指的是ros1 melodic，他们用的opencv3.2测试过。

open_vins 官方给的组合Ubuntu 18.04 ROS 1 Melodic (uses OpenCV 3.2)

Ubuntu 18.04   opencv 3.2.0   

我本机是3.4.8其实，别人的博客用的3.4.6,肯定是没限定，但是你得踩坑。

opencv默认没有aruco

SourceURL:file:///home/hqw/openvins.docx

openvins官网

Getting Started » Installation Guide (ROS1 and ROS2) | OpenVINS

Ubuntu 18.04 ROS 1 Melodic (uses OpenCV 3.2)

这里他指的是ros1 melodic，他们用的opencv3.2测试过。

open_vins 官方给的组合Ubuntu 18.04 ROS 1 Melodic (uses OpenCV 3.2)

Ubuntu 18.04   opencv 3.2.0   

我本机是3.4.8其实，别人的博客用的3.4.6,肯定是没限定，但是你得踩坑。

opencv默认没有aruco

opencv参考命令

git clone https://github.com/opencv/opencv/git clone https://github.com/opencv/opencv_contrib/mkdir opencv/build/cd opencv/build/cmake -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules ..make -j8sudo make install

实际根据需求去git找的release，没用官方这个命令。

ubuntu18.04安装运行OpenVINS_openvins运行-CSDN博客

这个博客也是3.2

指定一个独立目录

$ cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local/opencv320 -D E

各种报错

可选错误——CUDA报错

CMake Error at cmake/OpenCVCompilerOptions.cmake:21 (else):

  A duplicate ELSE command was found inside an IF block.

Call Stack (most recent call first):

  CMakeLists.txt:495 (include)

这种问题很简单了，直接打开cmake/OpenCVCompilerOptions.cmake:21 ，找到21行，他就是多了一行多余的endif，直接删除掉就好了

# else() # message(STATUS "Looking for ccache - not found")

CMake Error: The following variables are used in this project, but they are set to NOTFOUND.

Please set them or make sure they are set and tested correctly in the CMake files:

CUDA_nppi_LIBRARY (ADVANCED)

因为本机安装过cuda

解决方法:

第一步:在  opencv-3.2.0/cmake  文件夹下找到  FindCUDA.cmake 文件,对其进行修改

cd /home/zqzy/software/opencv-3.2.0/cmake

/home/hqw/hqw_opt/opencv/cmake/FindCUDA.cmake

sudo gedit FindCUDA.cmake

1）找到行

find_cuda_helper_libs(nppi)

改为

  find_cuda_helper_libs(nppial)

  find_cuda_helper_libs(nppicc)

  find_cuda_helper_libs(nppicom)

  find_cuda_helper_libs(nppidei)

  find_cuda_helper_libs(nppif)

  find_cuda_helper_libs(nppig)

  find_cuda_helper_libs(nppim)

  find_cuda_helper_libs(nppist)

  find_cuda_helper_libs(nppisu)

  find_cuda_helper_libs(nppitc)

上边那一对就是，但是需要把下边这个替换了?（-- CUDA detected: 11.4

）其实这一步我的版本不必（下边是5.5），按需操作

2）找到行

set(CUDA_npp_LIBRARY "${CUDA_nppc_LIBRARY};${CUDA_nppi_LIBRARY};${CUDA_npps_LIBRARY}")

改为

set(CUDA_npp_LIBRARY "${CUDA_nppc_LIBRARY};${CUDA_nppial_LIBRARY};${CUDA_nppicc_LIBRARY};${CUDA_nppicom_LIBRARY};${CUDA_nppidei_LIBRARY};${CUDA_nppif_LIBRARY};${CUDA_nppig_LIBRARY};${CUDA_nppim_LIBRARY};${CUDA_nppist_LIBRARY};${CUDA_nppisu_LIBRARY};${CUDA_nppitc_LIBRARY};${CUDA_npps_LIBRARY}")

3）找到行

unset(CUDA_nppi_LIBRARY CACHE)

改为

unset(CUDA_nppial_LIBRARY CACHE)

unset(CUDA_nppicc_LIBRARY CACHE)

unset(CUDA_nppicom_LIBRARY CACHE)

unset(CUDA_nppidei_LIBRARY CACHE)

unset(CUDA_nppif_LIBRARY CACHE)

unset(CUDA_nppig_LIBRARY CACHE)

unset(CUDA_nppim_LIBRARY CACHE)

unset(CUDA_nppist_LIBRARY CACHE)

unset(CUDA_nppisu_LIBRARY CACHE)

unset(CUDA_nppitc_LIBRARY CACHE)

第二步:  在  opencv-3.2.0/cmake  文件夹下找到文件  OpenCVDetectCUDA.cmake,对其进行修改

cd /home/zqzy/software/opencv-3.2.0/cmake

sudo gedit OpenCVDetectCUDA.cmake

  修改以下几行

 ...

  set(__cuda_arch_ptx "")

  if(CUDA_GENERATION STREQUAL "Fermi")

    set(__cuda_arch_bin "2.0")

  elseif(CUDA_GENERATION STREQUAL "Kepler")

    set(__cuda_arch_bin "3.0 3.5 3.7")

  ...

改为

  ...

  set(__cuda_arch_ptx "")

  if(CUDA_GENERATION STREQUAL "Kepler")

    set(__cuda_arch_bin "3.0 3.5 3.7")

  elseif(CUDA_GENERATION STREQUAL "Maxwell")

    set(__cuda_arch_bin "5.0 5.2")

  ...

第三步: Cuda9或者Cuda10及以后的版本 中有一个单独的halffloat(cuda_fp16.h)头文件,也应该被包括在opencv的目录里

将头文件cuda_fp16.h添加至 opencv/modules/cudev/include/opencv2/cudev/common.hpp

cd /home/zqzy/software/opencv-3.2.0/modules/cudev/include/opencv2/cudev

sudo gedit common.hpp

即在common.hpp中添加

#include <cuda_fp16.h>

重新生成即可

最后都试了，不行，不知道本机环境什么情况，毕竟不是我新装的机器，docker、cuda、ros、opencv

不带cuda

$ cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local/opencv320  -DWITH_CUDA=OFF   ..

undefined reference to `cblas_sgemm

缺库

sudo apt-get install libopenblas-dev

$ cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local/opencv320  -DWITH_CUDA=OFF  -DCMAKE_EXE_LINKER_FLAGS=-lcblas   ..

make -j8

sudo make install

$ ls /usr/local/opencv320/

bin  include  lib  share

Release 3.2.0 · opencv/opencv_contrib · GitHub

忘了带contrib和aruco，删除/usr/local/opencv320，重装

cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local/opencv320  -DWITH_CUDA=OFF  -DCMAKE_EXE_LINKER_FLAGS=-lcblas -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-3.2.0   ..

opencv编译不过

fatal error: linux/videodev.h: No such file or directory

sudo apt-get install libv4l-dev sudo ln -s /usr/include/libv4l1-videodev.h /usr/include/linux/videodev.h

fatal error: sys/videoio.h: No such file or directory

其实是/modules/没写进去

$ cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local/opencv320  -DWITH_CUDA=OFF  -DCMAKE_EXE_LINKER_FLAGS=-lcblas -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-3.2.0/modules/   ..

-- Configuring done

-- Generating done

-- Build files have been written to: /home/hqw/hqw_opt/opencv-3.2.0/build

配置成功

编译失败

 fatal error: LAPACKE_H_PATH-NOTFOUND/lapacke.h: No such file or directory #include “LAPACKE_H_PATH-NOTFOUND/lapacke.h”

sudo apt-get install liblapacke-dev checkinstall

修改出现问题的文件，例如我的文件是opencv-3.2.0/build/opencv_lapack.h

将第二行中的#include"LAPACKE_H_PATH-NOTFOUND/lapacke.h" 修改为#include"lapacke.h"即可

报错

fatal error: unsupported/Eigen/MatrixFunctions: No such file or directory

首先确保Eigen已经安装了，然后找到Eigen所在的路径。我的在/usr/include/eigen3这里

然后将报错的文件中的下面句子

include <unsupported/Eigen/MatrixFunctions>

改成

include </usr/include/eigen3/unsupported/Eigen/MatrixFunctions>

// #include <unsupported/Eigen/MatrixFunctions>

#include </usr/include/eigen3/unsupported/Eigen/MatrixFunctions>

编译成功

安装

看到openvins引用新编译的opencv库，新的是3.2.0，默认是3.4.8，虽然我没替换3.4.8，制定了/usr/local/opencv320/，但是执行了make install。。。。

被install以后被自动找到直接就编译成功了，如果找不到就改一下cmakelists.txt

opencv参考命令

git clone https://github.com/opencv/opencv/git clone https://github.com/opencv/opencv_contrib/mkdir opencv/build/cd opencv/build/cmake -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules ..make -j8sudo make install

实际根据需求去git找的release，没用官方这个命令。

ubuntu18.04安装运行OpenVINS_openvins运行-CSDN博客

这个博客也是3.2

指定一个独立目录

$ cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local/opencv320 -D E

各种报错

CMake Error at cmake/OpenCVCompilerOptions.cmake:21 (else):

  A duplicate ELSE command was found inside an IF block.

Call Stack (most recent call first):

  CMakeLists.txt:495 (include)

这种问题很简单了，直接打开cmake/OpenCVCompilerOptions.cmake:21 ，找到21行，他就是多了一行多余的endif，直接删除掉就好了

# else() # message(STATUS "Looking for ccache - not found")

CMake Error: The following variables are used in this project, but they are set to NOTFOUND.

Please set them or make sure they are set and tested correctly in the CMake files:

CUDA_nppi_LIBRARY (ADVANCED)

因为本机安装过cuda

解决方法:

第一步:在  opencv-3.2.0/cmake  文件夹下找到  FindCUDA.cmake 文件,对其进行修改

cd /home/zqzy/software/opencv-3.2.0/cmake

/home/hqw/hqw_opt/opencv/cmake/FindCUDA.cmake

sudo gedit FindCUDA.cmake

1）找到行

find_cuda_helper_libs(nppi)

改为

  find_cuda_helper_libs(nppial)

  find_cuda_helper_libs(nppicc)

  find_cuda_helper_libs(nppicom)

  find_cuda_helper_libs(nppidei)

  find_cuda_helper_libs(nppif)

  find_cuda_helper_libs(nppig)

  find_cuda_helper_libs(nppim)

  find_cuda_helper_libs(nppist)

  find_cuda_helper_libs(nppisu)

  find_cuda_helper_libs(nppitc)

上边那一对就是，但是需要把下边这个替换了?（-- CUDA detected: 11.4

）其实这一步我的版本不必（下边是5.5），按需操作

2）找到行

set(CUDA_npp_LIBRARY "${CUDA_nppc_LIBRARY};${CUDA_nppi_LIBRARY};${CUDA_npps_LIBRARY}")

改为

set(CUDA_npp_LIBRARY "${CUDA_nppc_LIBRARY};${CUDA_nppial_LIBRARY};${CUDA_nppicc_LIBRARY};${CUDA_nppicom_LIBRARY};${CUDA_nppidei_LIBRARY};${CUDA_nppif_LIBRARY};${CUDA_nppig_LIBRARY};${CUDA_nppim_LIBRARY};${CUDA_nppist_LIBRARY};${CUDA_nppisu_LIBRARY};${CUDA_nppitc_LIBRARY};${CUDA_npps_LIBRARY}")

3）找到行

unset(CUDA_nppi_LIBRARY CACHE)

改为

unset(CUDA_nppial_LIBRARY CACHE)

unset(CUDA_nppicc_LIBRARY CACHE)

unset(CUDA_nppicom_LIBRARY CACHE)

unset(CUDA_nppidei_LIBRARY CACHE)

unset(CUDA_nppif_LIBRARY CACHE)

unset(CUDA_nppig_LIBRARY CACHE)

unset(CUDA_nppim_LIBRARY CACHE)

unset(CUDA_nppist_LIBRARY CACHE)

unset(CUDA_nppisu_LIBRARY CACHE)

unset(CUDA_nppitc_LIBRARY CACHE)

第二步:  在  opencv-3.2.0/cmake  文件夹下找到文件  OpenCVDetectCUDA.cmake,对其进行修改

cd /home/zqzy/software/opencv-3.2.0/cmake

sudo gedit OpenCVDetectCUDA.cmake

  修改以下几行

 ...

  set(__cuda_arch_ptx "")

  if(CUDA_GENERATION STREQUAL "Fermi")

    set(__cuda_arch_bin "2.0")

  elseif(CUDA_GENERATION STREQUAL "Kepler")

    set(__cuda_arch_bin "3.0 3.5 3.7")

  ...

改为

  ...

  set(__cuda_arch_ptx "")

  if(CUDA_GENERATION STREQUAL "Kepler")

    set(__cuda_arch_bin "3.0 3.5 3.7")

  elseif(CUDA_GENERATION STREQUAL "Maxwell")

    set(__cuda_arch_bin "5.0 5.2")

  ...

第三步: Cuda9或者Cuda10及以后的版本 中有一个单独的halffloat(cuda_fp16.h)头文件,也应该被包括在opencv的目录里

将头文件cuda_fp16.h添加至 opencv/modules/cudev/include/opencv2/cudev/common.hpp

cd /home/zqzy/software/opencv-3.2.0/modules/cudev/include/opencv2/cudev

sudo gedit common.hpp

即在common.hpp中添加

#include <cuda_fp16.h>

重新生成即可

最后都试了，不行，不知道本机环境什么情况，毕竟不是我新装的机器，docker、cuda、ros、opencv

不带cuda

$ cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local/opencv320  -DWITH_CUDA=OFF   ..

undefined reference to `cblas_sgemm

缺库

sudo apt-get install libopenblas-dev

$ cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local/opencv320  -DWITH_CUDA=OFF  -DCMAKE_EXE_LINKER_FLAGS=-lcblas   ..

make -j8

sudo make install

$ ls /usr/local/opencv320/

bin  include  lib  share

Release 3.2.0 · opencv/opencv_contrib · GitHub

忘了带contrib和aruco，删除/usr/local/opencv320，重装

cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local/opencv320  -DWITH_CUDA=OFF  -DCMAKE_EXE_LINKER_FLAGS=-lcblas -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-3.2.0   ..

opencv编译不过

fatal error: linux/videodev.h: No such file or directory

sudo apt-get install libv4l-dev sudo ln -s /usr/include/libv4l1-videodev.h /usr/include/linux/videodev.h

fatal error: sys/videoio.h: No such file or directory

其实是/modules/没写进去

$ cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local/opencv320  -DWITH_CUDA=OFF  -DCMAKE_EXE_LINKER_FLAGS=-lcblas -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-3.2.0/modules/   ..

-- Configuring done

-- Generating done

-- Build files have been written to: /home/hqw/hqw_opt/opencv-3.2.0/build

配置成功

编译失败

 fatal error: LAPACKE_H_PATH-NOTFOUND/lapacke.h: No such file or directory #include “LAPACKE_H_PATH-NOTFOUND/lapacke.h”

sudo apt-get install liblapacke-dev checkinstall

修改出现问题的文件，例如我的文件是opencv-3.2.0/build/opencv_lapack.h

将第二行中的#include"LAPACKE_H_PATH-NOTFOUND/lapacke.h" 修改为#include"lapacke.h"即可

报错

fatal error: unsupported/Eigen/MatrixFunctions: No such file or directory

首先确保Eigen已经安装了，然后找到Eigen所在的路径。我的在/usr/include/eigen3这里

然后将报错的文件中的下面句子

include <unsupported/Eigen/MatrixFunctions>

改成

include </usr/include/eigen3/unsupported/Eigen/MatrixFunctions>

// #include <unsupported/Eigen/MatrixFunctions>

#include </usr/include/eigen3/unsupported/Eigen/MatrixFunctions>

安装

openvins引用新编译的opencv库

被install以后被自动找到，如果找不到就改一下cmakelists.txt