SVO相機标定環境配置相關問題

報錯：

terminate called after throwing an instance of ‘std::runtime_error’

what(): Frame: provided image has not the same size as the camera model or image is not grayscale

解決：

經過調試發現是這句的問題：

vo_->addImage(img, msg->header.stamp.toSec());
           

調用FrameHandlerMono：：addImage函數（定義在frame_handler_mono.cpp中）

其中，msg->header.stamp.toSec()可擷取系統時間（以秒為機關）

   擷取的圖檔img和轉換的系統時間被傳入函數addImage，addImage過程：
           

可是我剛剛把格式從mono改成了rgb格式，現在又要用這個函數。。。咋辦

frame_handler_mono.cpp中：new_frame_.reset(new Frame(cam_, img.clone(), timestamp));

這句有問題。

先看報的錯 第一種可能：provided image has not the same size as the camera model

提供的圖像和camera的模型不一樣。

https://github.com/uzh-rpg/rpg_svo/wiki/Camera-Calibration

http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration

相機标定

使用第2個模型

rosdep報錯：

// rosdep報錯
rosdep install camera_calibration

ERROR: Rosdep cannot find all required resources to answer your query
Missing resource camera_calibration
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/mxy/leishen_ws/src
ROS path [2]=/opt/ros/melodic/share
           

是因為我沒有安裝camera_calibration。安完了又顯示

Could not find a package configuration file provided by “image_geometry”

再安image_geometry

又提示沒有stereo-msgs

sudo apt-get install ros-melodic-stereo-msgs
           

// 新的報錯
CMake Error at /usr/share/cmake-3.10/Modules/FindBoost.cmake:1947 (message):
  Unable to find the requested Boost libraries.

  Boost version: 1.65.1

  Boost include path: /usr/include

  Could not find the following Boost libraries:

          boost_python37

  No Boost libraries were found.  You may need to set BOOST_LIBRARYDIR to the
  directory containing Boost libraries or BOOST_ROOT to the location of
  Boost.
           

發現自己沒有python3.7，于是又安裝python3.7(參考：https://blog.csdn.net/qq_25863199/article/details/91125794)，切換python版本：

//檢視目前版本
$ python --version
           

是Python 2.7.17

//切換python版本
sudo update-alternatives --config python
           

結果還是python3.6

繼續解決問題：

$ sudo apt-get install python3.7
$ sudo update-alternatives --install /usr/bin/python python /usr/bin/python3.7 2
$ sudo update-alternatives --config python
$ python --version
Python 3.7.5！！耶
           

but！！！！！catkin_make需要的環境是python2.7…

是以，我先把環境變量改成python3.7後，再安裝Boost,然後在切換2.7，再編譯試試

不行。（最後參考軟連結：https://blog.csdn.net/qq_42138662/article/details/105677869）

sudo ln -s libboost_python-py36.so libboost_python37.so
sudo ln -s libboost_python-py36.a libboost_python37.a
```成功。現在依賴的問題解決了，開始程式上報錯了
CV_INTER_LINEAR' was not declared in this scope。解決方法 ： cv::INTER_LINEAR 替換 CV_INTER_LINEAR
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