ORB-SLAM2中使用ROS遇到Bad argument (Invalid pointer to file storage) in cvGetFileNodeByName
在最近的除錯程式碼中，有一個問題Bad argument (Invalid pointer to file storage) in cvGetFileNodeByName困擾了我一段時間，查詢國內的方案也沒有找到方法。在尋找了github的問答中，有人提出瞭解決方案，且親測可行。
https://github.com/raulmur/ORB_SLAM2/issues/103
Ok with two days of struggling here is my solution: First my environment:
Ubuntu 1604 under VMware ROS Kinetic OpenCV 2.4.10
I first tried to compile ORB_SLAM with the OpenCV3.1.0 inside ROS follow the introduction provided by@cmxnono, however error occurs while cmake:
-
CMake Error in CMakeLists.txt: -
Imported target "opencv_xphoto" includes non-existent path -
"/usr/include/opencv-3.1.0-dev/opencv" -
in its INTERFACE_INCLUDE_DIRECTORIES. Possible reasons include: -
* The path was deleted, renamed, or moved to another location. -
* An install or uninstall procedure did not complete successfully. -
* The installation package was faulty and references files it does not -
provide.
, as the make also failed unsurprisingly. I didn't spend lots of time on figure out why this happens (someone knows? ). Instead, I determine to install another OpenCV 3.1.0 aside of my original 2.4.10, into the path, say \home\jack\libs\opencv
CMakeList.txt of ORB_SLAM to
find_package(OpenCV 3 REQUIRED HINTS ${OpenCV_DIR} NO_DEFAULT_PATH)
After compile the ORB_SLAM again, change the opencv version for ros node to 3, too, then everything goes well for me.
By the way, I also tried to convert the rosbuild CMakeList file to catking_make version, it's doesn't help on this problem.
一般這個問題出現在編譯ORB-SLAM2與編譯ros版本的opencv版本不同，一個為2.4.8一個為kinetic自帶的3.2.0。只要在cmakelist中講opencv那一行統一為ros的3.2.0即可
find_package(OpenCV 3.2.0 REQUIRED)
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