cv_bridge和opencv 记录

过程记录

背景

实验室笔记本上想跑一下vins-fusion。但是因为是有毕业师兄的代码，不敢随意破坏环境。
电脑环境：
ubuntu 20.04
opencv 3.3.1 和 4.2.0

Error:

vins-fusion中修改CMakeLists.txt，find_package(OpenCV 3.3.1 REQUIRED)，正常编译通过，但是运行时会发生报错
[vins_estimator-3] process has died [pid 207403, exit code 1, cmd /home/robot/toniht_ws/vins_ws/devel/lib/vins/vins_node __name:=vins_estimator __log:=/home/robot/.ros/log/66df44e6-69a3-11ee-9b57-ed49ddae8523/vins_estimator-3.log].
log file: /home/robot/.ros/log/66df44e6-69a3-11ee-9b57-ed49ddae8523/vins_estimator-3*.log

opencv版本和cv_bridge版本不对应

Fix:

选择对应分支的vision_opencv

cd ~/vins_catkin_ws/src
git clone https://github.com/ros-perception/vision_opencv.git --branch melodic   # melodic对应1.13版本
# 我只想保留cv_bridge，想带着vision_opencv的可以不做
mv /vision_opencv/cv_bridge ./
rm -rf vision_opencv

修改cv_bridge中的CMakeLists.txt和package.xml

# CMakeLists.txt
project(cv_bridge_331)
# package.xml
<name>cv_bridge_331</name>

cd ~/vins_catkin_ws
catkin_make		# 此时，src中要求只有cv_bridge，方便后面再编译时让vins找到cv_bridge_331