ubuntu18.04安装运行OpenVINS |
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一、安装依赖环境
(1)安装ROS
参照之前博客 ROS的安装_司马小妹的成长故事的博客-CSDN博客 (2)安装 opencv3.2我之前安装的是pencv3.4与openvins不兼容,需要重新换成3.2 (1)下载OpenCV 3.2.0 在OPenCV官网下载OpenCV 3.2.0 的source包然后解压到本地(下载链接http://opencv.org/releases.html,选择sources版本) 解压下载下来的zip包:(把压缩包放在你想要的位置,然后cd到该位置,解压即可) unzip opencv-3.2.0.zip进入到解压后的文件包中: cd opencv-3.2.0(2)安装依赖项 安装依赖库和cmake ,如果提醒需要apt-get update,那就先sudo su进入root权限,再sudo apt-get update,然后在执行下面命令 sudo apt-get install cmake sudo apt-get install build-essential sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff5-dev libdc1394-22-dev (处理图像所需的包) sudo apt-get install libavcodec-dev libavformat-dev libswscale-dev libv4l-dev liblapacke-dev sudo apt-get install libxvidcore-dev libx264-dev (处理视频所需的包) sudo apt-get install libatlas-base-dev gfortran (优化opencv功能) sudo apt-get install ffmpeg(3)编译安装 cd opencv-3.2.0 mkdir build cd build再记录一下自己现在是装了opencv3.4.1和opencv3.2.0,为了适应大佬们的算法,需要有不同的版本,在安装和使用时需要注意的是: 在安装cmake步骤时,需要额外设置安装后的路径,因为第一个版本默认安装在usr/local下的,第二个版本就不能重复了呀!手动新建文件夹,opencv320 ,在cmake时执行 cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local/opencv320 -D ENABLE_PRECOMPILED_HEADERS=OFF ..(在中间会下载个东西,稍等一下就ok,没什么问题) 如果出现下载不成功的问题 (1)报错1,及解决方案错误如下: -- ICV: Downloading ippicv_linux_20151201.tgz... CMake Error at 3rdparty/ippicv/downloader.cmake:73 (file): file DOWNLOAD HASH mismatch for file: [/home/aiko/opencv/opencv-3.2.0/3rdparty/ippicv/downloads/linux-808b791a6eac9ed78d32a7666804320e/ippicv_linux_20151201.tgz] expected hash: [808b791a6eac9ed78d32a7666804320e] actual hash: [d41d8cd98f00b204e9800998ecf8427e] status: [35;"SSL connect error"] Call Stack (most recent call first): 3rdparty/ippicv/downloader.cmake:110 (_icv_downloader) cmake/OpenCVFindIPP.cmake:243 (include) cmake/OpenCVFindLibsPerf.cmake:37 (include) CMakeLists.txt:558 (include) -- Configuring incomplete, errors occurred! See also "/home/aiko/opencv/opencv-3.2.0/build/CMakeFiles/CMakeOutput.log". See also "/home/aiko/opencv/opencv-3.2.0/build/CMakeFiles/CMakeError.log".
解决办法: (由于网络原因,可能出现ippicv_linux_20151201.tgz(无法在终端下载的情况,则可以先单独下载ippicv_linux_20151201.tgz之后,把其移动到终端所提示的路径(终端会提示该路径找不到文件),如路径/home/aiko/opencv/opencv-3.2.0/3rdparty/ippicv/downloads/linux-808b791a6eac9ed78d32a7666804320e/ippicv_linux_20151201.tgz 覆盖掉没有下载成功的文件即可。 之后继续执行: sudo make (漫长的编译过程) sudo make install (2)报错2,及解决方案报错如下: In file included from /home/aiko/opencv/opencv-3.2.0/modules/core/src/hal_internal.cpp:49:0: /home/aiko/opencv/opencv-3.2.0/build/opencv_lapack.h:2:10: fatal error: LAPACKE_H_PATH-NOTFOUND/lapacke.h: 没有那个文件或目录 #include "LAPACKE_H_PATH-NOTFOUND/lapacke.h" ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ compilation terminated. modules/core/CMakeFiles/opencv_core.dir/build.make:522: recipe for target 'modules/core/CMakeFiles/opencv_core.dir/src/hal_internal.cpp.o' failed make[2]: *** [modules/core/CMakeFiles/opencv_core.dir/src/hal_internal.cpp.o] Error 1 make[2]: *** 正在等待未完成的任务.... In member function ‘void cv::EigenvalueDecomposition::compute(cv::InputArray)’: cc1plus: warning: assuming signed overflow does not occur when assuming that (X - c) > X is always false [-Wstrict-overflow] CMakeFiles/Makefile2:1165: recipe for target 'modules/core/CMakeFiles/opencv_core.dir/all' failed make[1]: *** [modules/core/CMakeFiles/opencv_core.dir/all] Error 2 Makefile:162: recipe for target 'all' failed make: *** [all] Error 2 解决方法: 将错误所在的文件打开,在我的目录中是: /home/aiko/opencv/opencv-3.2.0/build/opencv_lapack.h 把第二行修改为 #include "lapacke.h" 保存即可, 之后继续执行: sudo make(如果已经在新的文件夹中编译,但是还会出现之前的报错,把cmakecache.txt删了再编译就可) (4)更改默认opencv 配置环境,添加路径 sudo make install 执行完毕后OpenCV编译过程就结束了,接下来就需要配置一些OpenCV的编译环境首先将OpenCV的库添加到路径,从而可以让系统找到: sudo gedit /etc/ld.so.conf.d/opencv.conf执行此命令后打开的可能是一个空白的文件,不用管,只需要在文件末尾添加: /usr/local/opencv320/lib 点击保存即可 执行如下命令使得刚才的配置路径生效: sudo ldconfig配置bash: sudo gedit /etc/bash.bashrc在最末尾添加: PKG_CONFIG_PATH=$PKG_CONFIG_PATH://usr/local/opencv320/lib/pkgconfig export PKG_CONFIG_PATH 点击保存即可 保存,执行如下命令使得配置生效: source /etc/bash.bashrc更新: sudo updatedb(这一步是在更改默认使用哪一个opencv库,如果想换回opencv3.4 ,重复步骤(4)更改默认opencv 配置环境,添加路径即可) (3)下载编译OpenVINS mkdir -p ~/workspace/catkin_ws_ov/src/ cd ~/workspace/catkin_ws_ov/src/ git clone https://github.com/rpng/open_vins/ cd .. catkin build -DENABLE_ARUCO_TAGS=OFF之后报错问题1 ,如下: catkin:未找到命令 (1)报错1,及解决方案我的情况是安装ROS环境后,catkin_make可以跑,但是如果跑catkin init或者catkin build就会遇到catkin:command not found。 所以只需要解决办法: sudo apt-get update sudo apt-get install python-catkin-tools之后继续执行 catkin build (2)报错2,及解决方案错误原因: Errors |
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