ubuntu20.04 MYNTEYE S 相机运行与标定记录
ubuntu20.04 MYNTEYE S 相机运行与标定记录
环境
ubuntu20.04
opencv3.3.1
硬件
mynteye S1030
OpenCV 3.4.3 安装
Jetson Nano+小觅相机(MYNT EYE S)开发调试指南
mkdir -p ~/tools/opencv
cd ~/tools/opencvgit clone https://github.com/opencv/opencv.git
cd opencv/
git checkout tags/3.4.3cd ~/tools/opencv
mv opencv opencv-3.4.3
cd opencv-3.4.3/mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=/home/robot/tools/opencv/opencv-3.4.3/build/installed ..
make
make install
cv_bridge配置
mkdir -p ~/workspace/MYNT_EYE/S_SDK/src
cd ~/workspace/MYNT_EYE/S_SDK/srccatkin initgit clone https://github.com/ros-perception/vision_opencv.git --branch melodic # melodic对应1.13版本mv vision_opencv/cv_bridge ./
rm -rf vision_opencv# 修改CMakeLists.txt和package.xml中的package name为cv_bridge_3
catkin_make
MYNT-EYE-S-SDK
cd ~/workspace/MYNT_EYE/S_SDK/src
git clone https://github.com/slightech/MYNT-EYE-S-SDK.git
cd MYNT-EYE-S-SDK
make install # 见ERROR 1cd ~/workspace/MYNT_EYE/S_SDK
catkin_make # 见ERROR 2 3 4 5# 测试
cd ~/workspace/MYNT_EYE/S_SDK
source devel/setup.bash
roslaunch mynt_eye_ros_wrapper display.launchERROR 1:
忘记是什么报错了，忘记复制了。但是是cv相关的报错，是因为忘记添加OpenCV_LIB_PATH了。
FIX：
在MYNT-EYE-S-SDK/CMakeLists.txt中添加
set(OpenCV_DIR /home/robot/tools/opencv/opencv-3.4.3/build)
set(OpenCV_LIB_PATH /home/robot/tools/opencv/opencv-3.4.3/build/installed/lib)
ERROR 2:
-- Could NOT find cv_bridge (missing: cv_bridge_DIR)
-- Could not find the required component 'cv_bridge'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):Could not find a package configuration file provided by "cv_bridge" withany of the following names:cv_bridgeConfig.cmakecv_bridge-config.cmakeAdd the installation prefix of "cv_bridge" to CMAKE_PREFIX_PATH or set"cv_bridge_DIR" to a directory containing one of the above files. If"cv_bridge" provides a separate development package or SDK, be sure it hasbeen installed.
Call Stack (most recent call first):MYNT-EYE-S-SDK/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt:36 (find_package)-- Configuring incomplete, errors occurred!
See also "/home/robot/tools/MYNT_EYE/S_SDK/build/CMakeFiles/CMakeOutput.log".
See also "/home/robot/tools/MYNT_EYE/S_SDK/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
FIX：
在catkin_ws中增加了cv_bridge并将其package修改为了cv_bridge_3，但是在SDK中的wrappers/ros/src中的CMakeLists.txt中将find_package中的cv_bridge也要修改成对应空间中的cv_bridge_3.
find_package(catkin REQUIRED COMPONENTScv_bridge_3geometry_msgsimage_transportmessage_generationnodeletroscppsensor_msgsstd_msgstf
)
ERROR 3：
-- Could NOT find image_transport (missing: image_transport_DIR)
-- Could not find the required component 'image_transport'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):Could not find a package configuration file provided by "image_transport"with any of the following names:image_transportConfig.cmakeimage_transport-config.cmakeAdd the installation prefix of "image_transport" to CMAKE_PREFIX_PATH orset "image_transport_DIR" to a directory containing one of the above files.If "image_transport" provides a separate development package or SDK, besure it has been installed.
Call Stack (most recent call first):MYNT-EYE-S-SDK/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt:36 (find_package)-- Configuring incomplete, errors occurred!
See also "/home/robot/tools/MYNT_EYE/S_SDK/build/CMakeFiles/CMakeOutput.log".
See also "/home/robot/tools/MYNT_EYE/S_SDK/build/CMakeFiles/CMakeError.log".
make: *** [Makefile:782: cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
找不到image_transport
FIX：
在wrappers/ros/src/CMakeLists.txt中添加set(image_transport_DIR /opt/ros/noetic/share/image_transport/cmake)
ERROR 4：
-- Could NOT find message_generation (missing: message_generation_DIR)
-- Could not find the required component 'message_generation'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):Could not find a package configuration file provided by"message_generation" with any of the following names:message_generationConfig.cmakemessage_generation-config.cmakeAdd the installation prefix of "message_generation" to CMAKE_PREFIX_PATH orset "message_generation_DIR" to a directory containing one of the abovefiles. If "message_generation" provides a separate development package orSDK, be sure it has been installed.
Call Stack (most recent call first):MYNT-EYE-S-SDK/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeLists.txt:38 (find_package)-- Configuring incomplete, errors occurred!
See also "/home/robot/tools/MYNT_EYE/S_SDK/build/CMakeFiles/CMakeOutput.log".
See also "/home/robot/tools/MYNT_EYE/S_SDK/build/CMakeFiles/CMakeError.log".
make: *** [Makefile:782: cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
找不到message_generation。
FIX：
在wrappers/ros/src/CMakeLists.txt中添加set(message_generation_DIR /opt/ros/noetic/share/message_generation/cmake)
ERROR 5：
[ 88%] Linking CXX shared library /home/robot/tools/MYNT_EYE/S_SDK/devel/lib/libmynteye_wrapper.so
/usr/bin/ld: cannot find -lBoost::filesystem
collect2: error: ld returned 1 exit status
make[2]: *** [MYNT-EYE-S-SDK/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeFiles/mynteye_wrapper.dir/build.make:144: /home/robot/tools/MYNT_EYE/S_SDK/devel/lib/libmynteye_wrapper.so] Error 1
make[1]: *** [CMakeFiles/Makefile2:2035: MYNT-EYE-S-SDK/wrappers/ros/src/mynt_eye_ros_wrapper/CMakeFiles/mynteye_wrapper.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
Invoking "make -j8 -l8" failed
找不到Boost::filesystem
FIX：
修改wrappers/ros/src/CMakeLists.txt。
find_package(Boost REQUIRED COMPONENTS filesystem)
include_directories(${Boost_INCLUDE_DIRS})
S 系列相机标定
IMU标定
roslaunch mynt_eye_ros_wrapper vins_fusion.launch
rosbag record -O IMU_mynteye_s_calibration /mynteye/imu/data_raw
录制一个小时以上
roslaunch imu_utils mynteye_imu_calibration.launchrosbag play -r 200 IMU_mynteye_s_calibration.bag
标注
后续再继续标定，目前出现问题：
- 同样的IMU标定流程，手中的mynteye D相机正常标定，但是S相机标定时ERROR
- 双目标定时，mynteye D相机正常，但是S相机无法降低采样频率，每次降到4hz，相机进程就会被杀死。不清楚是不是因为驱动。
决定还是试试D455，主要目的是将D455标定结果和mynteye D相机进行对比。