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Built on Xavier, how to demonstrate #99

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JohnVorwald opened this issue Dec 26, 2020 · 1 comment
Closed

Built on Xavier, how to demonstrate #99

JohnVorwald opened this issue Dec 26, 2020 · 1 comment

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@JohnVorwald
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Hello,
I am new to Xavier / CV.
The command
catkin_make --pkg msckf_vio --cmake-args -DCMAKE_BUILD_TYPE=Release

gives the error

CMake Error at /opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake:113 (message):
Project 'cv_bridge' specifies '/usr/include/opencv' as an include dir,
which is not found. It does neither exist as an absolute directory nor in
'${{prefix}}//usr/include/opencv'. Check the issue tracker
'https://github.com/ros-perception/vision_opencv/issues' and consider
creating a ticket if the problem has not been reported yet.
Call Stack (most recent call first):
/opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:76 (find_package)
msckf_vio/CMakeLists.txt:9 (find_package)

The error can be fixed by following
ros-perception/vision_opencv#345

sh0w commented on Jul 24 • 
i had the same problem (jetson xavier + ubuntu 18.04 + ros melodic)

we fixed it like this:

change the file:

/opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake
change this line:

set(_include_dirs "include;/usr/include;/usr/include/opencv")
to

set(_include_dirs "include;/usr/include;/usr/include/opencv4")

With that modification, the command
catkin_make --pkg msckf_vio --cmake-args -DCMAKE_BUILD_TYPE=Release
runs to completion, and creates numerous targets including the following
[ 62%] Built target msckf_vio_generate_messages
[ 81%] Built target image_processor
[ 88%] Built target image_processor_nodelet
[ 92%] Built target msckf_vio
[100%] Built target msckf_vio_nodelet

I have a MYNT Eye S connected to the Xavier. Can you provide instructions on how to do a real time demonstration. I'm new to this topic.

@ke-sun
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ke-sun commented Dec 27, 2020

It should not be too hard to run on Xavier.
You could try calibrating the cameras first.
Then modify the launch files connecting to the image and imu topics.

@ke-sun ke-sun closed this as completed Feb 5, 2021
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