Vins-Fusion代码跑通

问题环境背景：

首先是Ubuntu2004 电脑里面有opencv3和opencv4共存，

现象：编译的时候ros指向opencv4版本之间的不兼容导致

首先是遇到ceres库的版本问题

然后是

源码安装vins-mono算法问题整理（ROS Melodic + opencv 4.1.1） - 创客智造/爱折腾智能机器人社区

测试环境：Jetson Xavier NX+ Jetpack4.4 + Ubuntu 1804 + ROS Melodic + opencv 4.1.1
 
问题一

•  编译时报错 error: ‘CV_GRAY2RGB’ was not declared in this scope 等

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In constructor ‘camodocal::Chessboard::Chessboard(cv::Size, cv::Mat&)’:
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:20:38: error: ‘CV_GRAY2BGR’ was not declared in this scope
         cv::cvtColor(image, mSketch, CV_GRAY2BGR);
                                      ^~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:26:37: error: ‘CV_BGR2GRAY’ was not declared in this scope
         cv::cvtColor(image, mImage, CV_BGR2GRAY);
                                     ^~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In member function ‘bool camodocal::Chessboard::findChessboardCornersImproved(const cv::Mat&, const Size&, std::vector >&, int)’:
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:150:43: error: ‘CV_BGR2GRAY’ was not declared in this scope
             cv::cvtColor(image, norm_img, CV_BGR2GRAY);
                                           ^~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:207:67: error: ‘CV_THRESH_BINARY’ was not declared in this scope
                 cv::threshold(img, thresh_img, thresh_level, 255, CV_THRESH_BINARY);
                                                                   ^~~~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In constructor ‘camodocal::Chessboard::Chessboard(cv::Size, cv::Mat&)’:
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:20:38: error: ‘CV_GRAY2BGR’ was not declared in this scope
         cv::cvtColor(image, mSketch, CV_GRAY2BGR);
                                      ^~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:26:37: error: ‘CV_BGR2GRAY’ was not declared in this scope
         cv::cvtColor(image, mImage, CV_BGR2GRAY);
                                     ^~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:215:57: error: ‘CV_SHAPE_CROSS’ was not declared in this scope
             cv::Mat kernel1 = cv::getStructuringElement(CV_SHAPE_CROSS, cv::Size(3,3), cv::Point(1,1));
                                                         ^~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In member function ‘bool camodocal::Chessboard::findChessboardCornersImproved(const cv::Mat&, const Size&, std::vector >&, int)’:
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:150:43: error: ‘CV_BGR2GRAY’ was not declared in this scope
             cv::cvtColor(image, norm_img, CV_BGR2GRAY);
                                           ^~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:215:57: note: suggested alternative: ‘CV_WRAP_AS’
             cv::Mat kernel1 = cv::getStructuringElement(CV_SHAPE_CROSS, cv::Size(3,3), cv::Point(1,1));
                                                         ^~~~~~~~~~~~~~
                                                         CV_WRAP_AS
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:216:57: error: ‘CV_SHAPE_RECT’ was not declared in this scope
             cv::Mat kernel2 = cv::getStructuringElement(CV_SHAPE_RECT, cv::Size(3,3), cv::Point(1,1));
                                                         ^~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:320:43: error: ‘CV_TERMCRIT_EPS’ was not declared in this scope
                          cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
                                           ^~~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:207:67: error: ‘CV_THRESH_BINARY’ was not declared in this scope
                 cv::threshold(img, thresh_img, thresh_level, 255, CV_THRESH_BINARY);
                                                                   ^~~~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:320:61: error: ‘CV_TERMCRIT_ITER’ was not declared in this scope
                          cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
                                                             ^~~~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:215:57: error: ‘CV_SHAPE_CROSS’ was not declared in this scope
             cv::Mat kernel1 = cv::getStructuringElement(CV_SHAPE_CROSS, cv::Size(3,3), cv::Point(1,1));
                                                         ^~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:215:57: note: suggested alternative: ‘CV_WRAP_AS’
             cv::Mat kernel1 = cv::getStructuringElement(CV_SHAPE_CROSS, cv::Size(3,3), cv::Point(1,1));
                                                         ^~~~~~~~~~~~~~
                                                         CV_WRAP_AS
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:216:57: error: ‘CV_SHAPE_RECT’ was not declared in this scope
             cv::Mat kernel2 = cv::getStructuringElement(CV_SHAPE_RECT, cv::Size(3,3), cv::Point(1,1));
                                                         ^~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:320:43: error: ‘CV_TERMCRIT_EPS’ was not declared in this scope
                          cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
                                           ^~~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In member function ‘void camodocal::Chessboard::generateQuads(std::vector >&, cv::Mat&, int, int, bool)’:
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1175:50: error: ‘CV_RETR_CCOMP’ was not declared in this scope
     cv::findContours(image, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
                                                  ^~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:320:61: error: ‘CV_TERMCRIT_ITER’ was not declared in this scope
                          cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
                                                             ^~~~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1175:65: error: ‘CV_CHAIN_APPROX_SIMPLE’ was not declared in this scope
     cv::findContours(image, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
                                                                 ^~~~~~~~~~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In member function ‘void camodocal::Chessboard::generateQuads(std::vector >&, cv::Mat&, int, int, bool)’:
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1175:50: error: ‘CV_RETR_CCOMP’ was not declared in this scope
     cv::findContours(image, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
                                                  ^~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1175:65: error: ‘CV_CHAIN_APPROX_SIMPLE’ was not declared in this scope
     cv::findContours(image, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
                                                                 ^~~~~~~~~~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In member function ‘bool camodocal::Chessboard::checkChessboard(const cv::Mat&, cv::Size) const’:
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1586:72: error: ‘CV_THRESH_BINARY’ was not declared in this scope
         cv::threshold(white, thresh, threshLevel + blackWhiteGap, 255, CV_THRESH_BINARY);
                                                                        ^~~~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1592:55: error: ‘CV_RETR_CCOMP’ was not declared in this scope
         cv::findContours(thresh, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
                                                       ^~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1592:70: error: ‘CV_CHAIN_APPROX_SIMPLE’ was not declared in this scope
         cv::findContours(thresh, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
                                                                      ^~~~~~~~~~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In member function ‘bool camodocal::Chessboard::checkChessboard(const cv::Mat&, cv::Size) const’:
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1586:72: error: ‘CV_THRESH_BINARY’ was not declared in this scope
         cv::threshold(white, thresh, threshLevel + blackWhiteGap, 255, CV_THRESH_BINARY);
                                                                        ^~~~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1597:56: error: ‘CV_THRESH_BINARY_INV’ was not declared in this scope
         cv::threshold(black, thresh, threshLevel, 255, CV_THRESH_BINARY_INV);
                                                        ^~~~~~~~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1592:55: error: ‘CV_RETR_CCOMP’ was not declared in this scope
         cv::findContours(thresh, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
                                                       ^~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1592:70: error: ‘CV_CHAIN_APPROX_SIMPLE’ was not declared in this scope
         cv::findContours(thresh, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
                                                                      ^~~~~~~~~~~~~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1597:56: error: ‘CV_THRESH_BINARY_INV’ was not declared in this scope
         cv::threshold(black, thresh, threshLevel, 255, CV_THRESH_BINARY_INV);

/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc: In member function ‘void camodocal::CameraCalibration::drawResults(std::vector&) const’:
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc:236:40: error: ‘CV_GRAY2RGB’ was not declared in this scope
             cv::cvtColor(image, image, CV_GRAY2RGB);
                                        ^~~~~~~~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc:236:40: note: suggested alternative: ‘CV_GRAPH’
             cv::cvtColor(image, image, CV_GRAY2RGB);
                                        ^~~~~~~~~~~
                                        CV_GRAPH
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc:254:37: error: ‘CV_AA’ was not declared in this scope
                        5, green, 2, CV_AA, drawShiftBits);
                                     ^~~~~
/home/ubuntu/catkin_ws/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc:254:37: note: suggested alternative: ‘CV_AVX’
                        5, green, 2, CV_AA, drawShiftBits);
                                     ^~~~~
                                     CV_AVX

解决方法
 

• 在报错文件上添加头文件 #include
• 单独遇到CV_AA的报错时，也可以将 CV_AA 改为 cv::LINE_AA

问题二
 

• 编译时报错 error: ‘CV_CALIB_CB_ADAPTIVE_THRESH’ was not declared in this scope 、error: ‘CV_CALIB_CB_NORMALIZE_IMAGE’ was not declared in this scope、error: ‘CV_CALIB_CB_FILTER_QUADS’ was not declared in this scope 和 error: ‘CV_CALIB_CB_FAST_CHECK’ was not declared in this scope

解决方法
 

• 将CV_CALIB_CB_ADAPTIVE_THRESH、CV_CALIB_CB_NORMALIZE_IMAGE、CV_CALIB_CB_FILTER_QUADS和CV_CALIB_CB_FAST_CHECK修改为 cv::CALIB_CB_ADAPTIVE_THRESH 、 cv::CALIB_CB_NORMALIZE_IMAGE 、cv::CALIB_CB_FILTER_QUADS 和cv::CALIB_CB_FAST_CHECK

 
问题三
 

• 编译时报错 error: ‘CV_RGB2GRAY’ was not declared in this scope

/home/ubuntu/catkin_ws/src/VINS-Mono/pose_graph/src/ThirdParty/DVision/BRIEF.cpp:53:32: error: ‘CV_RGB2GRAY’ was not declared in this scope cv::cvtColor(image, aux, CV_RGB2GRAY);
^~~~~~~~~~~ 
/home/ubuntu/catkin_ws/src/VINS-Mono/pose_graph/src/ThirdParty/DVision/BRIEF.cpp:53:32: note: suggested alternative: ‘CV_RGB’ cv::cvtColor(image, aux, CV_RGB2GRAY);

解决方法
 

• 在报错文件上添加头文件 #include

问题四
 

• 编译时遇到报错 error: ‘CV_FONT_HERSHEY_SIMPLEX’ was not declared in this scope

 
解决方法
 

• 将报错文件上的 CV_FONT_HERSHEY_SIMPLEX 参数改为 cv::FONT_HERSHEY_SIMPLEX

问题5 

 error: 'CV_LOAD_IMAGE_GRAYSCALE' was not declared in this scope

解决办法

CV_LOAD_IMAGE_GRAYSCALE   替换成 cv::IMREAD_GRAYSCALE