1
mode was set to :stereo. core dumped
ros cv_bidge using opencv may confilct with you own,so reintall cv_bridge
2
-Camera 1 parameters (Pinhole): [ 718.856 718.856 607.193 185.216 ]
68995 Segmentation fault (core dumped)
# -Loaded misc parameters
----------------------------------
SLAM settings:
-Camera 1 parameters (Pinhole): [ 357.985 389.225 358.557 229.835 ]
段错误 (核心已转储)
the config yaml may be wrong. you can change to the official yaml,like KITTI00-02.yaml,and it will run.
3
terminate called after throwing an instance of ‘cv::Exception’what(): OpenCV(3.4.16)
/home/seu/wsh/study/ch5/opencv-3.4.16/modules/imgproc/src/median_blur.dispatch.cpp:283: error: (-215:Assertion failed) !_src0.empty() in function ‘medianBlur’
yaml path erro
4
(ORB-SLAM3: Current Frame:3598): Gtk-ERROR **: 19:51:33.694: GTK+ 2.x symbols detected. Using GTK+ 2.x and GTK+ 3 in the same process is not supported
sudo apt remove libgtk3*
remove gtk3 , rebuild opencv and orbslam .run the demo again
5
Core dumped
ros opencv version confilct with orbslam version. changge the opencv version(you build frome source) or remove cvbridge and build it from source
To install cv_bridge
from source, you will need to follow these steps:
-
Setup ROS Workspace:
Create a new ROS workspace if you haven't already done so. Here's how you can create a new workspace:mkdir -p ~/catkin_ws/src cd ~/catkin_ws/ catkin_make source devel/setup.bash
-
Clone cv_bridge Repository:
Clone thecv_bridge
repository into thesrc
folder of your ROS workspace:cd ~/catkin_ws/src git clone https://github.com/ros-perception/vision_opencv.git
The
vision_opencv
repository contains thecv_bridge
package along with other related packages. -
Configure and Build:
Configure and build thecv_bridge
package and its dependencies within your workspace:cd ~/catkin_ws catkin_make
-
Source Setup:
Source the setup files to set up your environment:source devel/setup.bash
-
Test Installation:
Test the installation by running a simple node that usescv_bridge
. For example, you can write a small ROS node that subscribes to a camera topic and displays the image usingcv_bridge
.
Detailed Steps:
Step 1: Create a ROS Workspace
If you haven't created a ROS workspace yet, you can do so by following these commands:
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
Step 2: Clone the Repository
Clone the vision_opencv
repository, which contains cv_bridge
:
cd ~/catkin_ws/src
git clone https://github.com/ros-perception/vision_opencv.git
Step 3: Build the Workspace
Build the vision_opencv
packages and their dependencies:
cd ~/catkin_ws
catkin_make
Step 4: Set Up Environment
Set up the environment by sourcing the setup files:
source devel/setup.bash
Step 5: Test Installation
To test the installation, you can write a simple ROS node that subscribes to a camera topic and displays the image using cv_bridge
. Here's an example of how you can do this:
#include "ros/ros.h"
#include "sensor_msgs/Image.h"
#include "cv_bridge/cv_bridge.h"
#include <opencv2/highgui/highgui.hpp>
void imageCallback(const sensor_msgs::ImageConstPtr& msg)
{
try
{
cv::Mat image = cv_bridge::toCvShare(msg, "bgr8")->image;
cv::imshow("Image window", image);
cv::waitKey(30);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
}
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "image_listener");
ros::NodeHandle nh;
ros::Subscriber sub = nh.subscribe("/camera/image_raw", 1, imageCallback);
ros::spin();
return 0;
}
Compile the node and run it:
cd ~/catkin_ws/src
mkdir my_image_subscriber
cd my_image_subscriber
catkin_create_pkg my_image_subscriber rospy std_msgs cv_bridge
cd src
touch image_subscriber.cpp
vim image_subscriber.cpp
Copy the above code into image_subscriber.cpp
and save the file. Then, build the package and run the node:
cd ~/catkin_ws
catkin_make
source devel/setup.bash
rosrun my_image_subscriber image_subscriber
Make sure to replace /camera/image_raw
with the appropriate topic name for your camera.
If everything is set up correctly, you should see the images displayed in a window when you run the node.
If you encounter any issues during the build or while testing the installation, feel free to ask for further assistance!
6
-Loaded misc parameters
----------------------------------
SLAM settings:
-Camera 1 parameters (Pinhole): [ 357.985 389.225 358.557 229.835 ]
段错误 (核心已转储)
if you reach this and core dump, the config yaml may be wrong. you can change to the official yaml,like KITTI00-02.yaml,and it will run.
标签:Core,catkin,bridge,image,SLAM3,ws,ros,ORB,cv From: https://www.cnblogs.com/happy-root/p/18353952