Having problems with VINS Mono

[Dr0ne_guy (Parker)]

I am trying to replicate something that is done here Trying to get position estimates using VINS MONO

Hardware setup:

Raspbbery Pi 4 Model B
Arducam OV9281

Software installed:

OS: Raspbian Debian 11 (Bullseye)
OpenCV: 4.5.1
Eigen: 3.3.9

I am having issues with installing Ceres and ROS Noetic in my hardware, I tried Ceres to build from source, but after building it, I am not getting the file ceres.pc due to which I am not able to verify its installation

And with ROS Noetic, when I surfed through the internet ROS Noetic is not there for bullseye, but it is there for buster OS, but @chobitsfan used it, I am trying to replicate using the same setup.

I know this is not related to ardupilot, but I don’t find asking anywhere else will help, because here developers has already tested it, so I hope you can help me @ppoirier @talking-toaster

Thanks in advance

[ppoirier]

My integration on the Orange-Pi Nano 2 was like this
OS: Ubuntu
Debian was problematic and I switched to Ubuntu

This is a wiki you could use if you wnt to push:
https://wiki.ros.org/noetic/Installation/Debian

Opencv: 4.2 == this was the most compatible release with bothe Ceres and Noetic

[Dr0ne_guy (Parker)]

Thanks for the response @ppoirier ., which version of Ubuntu did you use to test with?

[ppoirier]

Ubuntu 20.04.6 LTS (Focal Fossa)

[Dr0ne_guy (Parker)]

Thank you @ppoirier I’ll setup and get back if I needed some more help

[Dr0ne_guy (Parker)]

And one more doubt @ppoirier , will the camera work with the Ubuntu 20?

[ppoirier]

Yes
I made a different integration using a USB type camera because the OrangePi did not had the CSI interface but it work the same

[chobitsfan]

And with ROS Noetic, when I surfed through the internet ROS Noetic is not there for bullseye

I think that raspbian has a upstream port of ROS noetic

[Dr0ne_guy (Parker)]

@chobitsfan

raspbian has a upstream port of ROS noetic

Hey @chobitsfan , thank you for the response, but I did not get you when you say Raspbian has a upstream port for ROS noetic

[ppoirier]

I provided the link on a previous post

[Dr0ne_guy (Parker)]

Yeah, but it says it supports only buster

[Dr0ne_guy (Parker)]

And also I have one more problem @ppoirier @chobitsfan with building Ceres, After I build ceres it’s still not there, that is I did make and make install but ceres is not there when I do ceres_solver_version

[Dr0ne_guy (Parker)]

The ceres issue is sorted, it is built but I am facing issue with VINS Mono build. I am getting this error @ppoirier

I cloned from @chobitsfan forked repo and tried building using catkin_make and got the above error

I am building on Ubuntu 20 in Raspberry Pi 4 and have all the dependencies installed

[ppoirier]

What the 2 error are ?
It is generally show in RED on the build

[Dr0ne_guy (Parker)]

Script started on 2023-12-19 17:05:23+05:30 [TERM=“xterm-256color” TTY=“/dev/pts/1” COLUMNS=“169” LINES=“29”]
e]0;user@raspberrypi: ~/catkin_wsae[01;32muser@raspberrypie[00m:e[01;34m~/catkin_wse[00m$ lscd /usr/local/bin/lse[Ke[Klscd /usr/local/bin/e[Kls /usr/local/bin/ceres_solver_version
e[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[18Pceres_solver_versione[3Psudo make installceres_solver_versionls /usr/local/bin/ceres_solver_version
e[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ce[Ccde[K /usr/local/bin/lse[Ke[Kaaaaaaaaaaacatre[Kkain_MAae[Ke[Kmaake
Base path: /home/user/catkin_ws
Source space: /home/user/catkin_ws/src
Build space: /home/user/catkin_ws/build
Devel space: /home/user/catkin_ws/devel
Install space: /home/user/catkin_ws/install
e[34m####e[0m
e[34m#### Running command: e[1m"make cmake_check_build_system"e[0me[34m in e[1m"/home/user/catkin_ws/build"e[0m
e[34m####e[0m
e[34m####e[0m
e[34m#### Running command: e[1m"make -j4 -l4"e[0me[34m in e[1m"/home/user/catkin_ws/build"e[0m
e[34m####e[0m
[ 1%] e[32mBuilding CXX object VINS-Mono/camera_model/CMakeFiles/camera_model.dir/src/chessboard/Chessboard.cc.oe[0m
[ 3%] e[32mBuilding CXX object VINS-Mono/camera_model/CMakeFiles/Calibration.dir/src/intrinsic_calib.cc.oe[0m
[ 6%] Built target benchmark_publisher
[ 7%] e[32mBuilding CXX object VINS-Mono/camera_model/CMakeFiles/camera_model.dir/src/calib/CameraCalibration.cc.oe[0m
[ 32%] Built target vins_estimator
[ 33%] e[32mBuilding CXX object VINS-Mono/camera_model/CMakeFiles/camera_model.dir/src/camera_models/Camera.cc.oe[0m
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc:e[me[K In member function ‘e[01me[Kvoid camodocal::CameraCalibration::drawResults(std::vectorcv::Mat&) conste[me[K’:
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc:235:40:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_GRAY2RGBe[me[K’ was not declared in this scope
235 | cv::cvtColor(image, image, e[01;31me[KCV_GRAY2RGBe[me[K);
| e[01;31me[K^~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc:253:37:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_AAe[me[K’ was not declared in this scope; did you mean ‘e[01me[KCV_AVXe[me[K’?
253 | 5, green, 2, e[01;31me[KCV_AAe[me[K, drawShiftBits);
| e[01;31me[K^~~~~e[me[K
| e[32me[KCV_AVXe[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc:275:24:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_AAe[me[K’ was not declared in this scope; did you mean ‘e[01me[KCV_AVXe[me[K’?
275 | 1, e[01;31me[KCV_AAe[me[K);
| e[01;31me[K^~~~~e[me[K
| e[32me[KCV_AVXe[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:e[me[K In constructor ‘e[01me[Kcamodocal::Chessboard::Chessboard(cv::Size, cv::Mat&)e[me[K’:
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:20:38:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_GRAY2BGRe[me[K’ was not declared in this scope
20 | cv::cvtColor(image, mSketch, e[01;31me[KCV_GRAY2BGRe[me[K);
| e[01;31me[K^~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:26:37:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_BGR2GRAYe[me[K’ was not declared in this scope
26 | cv::cvtColor(image, mImage, e[01;31me[KCV_BGR2GRAYe[me[K);
| e[01;31me[K^~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:e[me[K In member function ‘e[01me[Kvoid camodocal::Chessboard::findCorners(bool)e[me[K’:
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:34:43:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_CALIB_CB_ADAPTIVE_THRESHe[me[K’ was not declared in this scope
34 | e[01;31me[KCV_CALIB_CB_ADAPTIVE_THRESHe[me[K +
| e[01;31me[K^~~~~~~~~~~~~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:35:43:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_CALIB_CB_NORMALIZE_IMAGEe[me[K’ was not declared in this scope
35 | e[01;31me[KCV_CALIB_CB_NORMALIZE_IMAGEe[me[K +
| e[01;31me[K^~~~~~~~~~~~~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:36:43:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_CALIB_CB_FILTER_QUADSe[me[K’ was not declared in this scope
36 | e[01;31me[KCV_CALIB_CB_FILTER_QUADSe[me[K +
| e[01;31me[K^~~~~~~~~~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:37:43:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_CALIB_CB_FAST_CHECKe[me[K’ was not declared in this scope
37 | e[01;31me[KCV_CALIB_CB_FAST_CHECKe[me[K,
| e[01;31me[K^~~~~~~~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:e[me[K In member function ‘e[01me[Kbool camodocal::Chessboard::findChessboardCornersImproved(const cv::Mat&, const Size&, std::vector<cv::Point_ >&, int)e[me[K’:
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:144:43:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_CALIB_CB_NORMALIZE_IMAGEe[me[K’ was not declared in this scope
144 | if (image.channels() != 1 || (flags & e[01;31me[KCV_CALIB_CB_NORMALIZE_IMAGEe[me[K))
| e[01;31me[K^~~~~~~~~~~~~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:150:43:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_BGR2GRAYe[me[K’ was not declared in this scope
150 | cv::cvtColor(image, norm_img, e[01;31me[KCV_BGR2GRAYe[me[K);
| e[01;31me[K^~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:161:17:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_CALIB_CB_FAST_CHECKe[me[K’ was not declared in this scope
161 | if (flags & e[01;31me[KCV_CALIB_CB_FAST_CHECKe[me[K)
| e[01;31me[K^~~~~~~~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:192:25:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_CALIB_CB_ADAPTIVE_THRESHe[me[K’ was not declared in this scope
192 | if (flags & e[01;31me[KCV_CALIB_CB_ADAPTIVE_THRESHe[me[K)
| e[01;31me[K^~~~~~~~~~~~~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:198:61:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_ADAPTIVE_THRESH_MEAN_Ce[me[K’ was not declared in this scope
198 | cv::adaptiveThreshold(img, thresh_img, 255, e[01;31me[KCV_ADAPTIVE_THRESH_MEAN_Ce[me[K, CV_THRESH_BINARY, blockSize, (k/2)5);
| e[01;31me[K^~~~~~~~~~~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:198:88:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_THRESH_BINARYe[me[K’ was not declared in this scope
198 | cv::adaptiveThreshold(img, thresh_img, 255, CV_ADAPTIVE_THRESH_MEAN_C, e[01;31me[KCV_THRESH_BINARYe[me[K, blockSize, (k/2)5);
| e[01;31me[K^~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:207:67:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_THRESH_BINARYe[me[K’ was not declared in this scope
207 | cv::threshold(img, thresh_img, thresh_level, 255, e[01;31me[KCV_THRESH_BINARYe[me[K);
| e[01;31me[K^~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:215:57:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_SHAPE_CROSSe[me[K’ was not declared in this scope
215 | cv::Mat kernel1 = cv::getStructuringElement(e[01;31me[KCV_SHAPE_CROSSe[me[K, cv::Size(3,3), cv::Point(1,1));
| e[01;31me[K^~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:216:57:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_SHAPE_RECTe[me[K’ was not declared in this scope
216 | cv::Mat kernel2 = cv::getStructuringElement(e[01;31me[KCV_SHAPE_RECTe[me[K, cv::Size(3,3), cv::Point(1,1));
| e[01;31me[K^~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:320:43:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_TERMCRIT_EPSe[me[K’ was not declared in this scope
320 | cv::TermCriteria(e[01;31me[KCV_TERMCRIT_EPSe[me[K + CV_TERMCRIT_ITER, 30, 0.1));
| e[01;31me[K^~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:320:61:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_TERMCRIT_ITERe[me[K’ was not declared in this scope
320 | cv::TermCriteria(CV_TERMCRIT_EPS + e[01;31me[KCV_TERMCRIT_ITERe[me[K, 30, 0.1));
| e[01;31me[K^~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:e[me[K In member function ‘e[01me[Kvoid camodocal::Chessboard::generateQuads(std::vector<boost::shared_ptrcamodocal::ChessboardQuad >&, cv::Mat&, int, int, bool)e[me[K’:
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1175:50:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_RETR_CCOMPe[me[K’ was not declared in this scope
1175 | cv::findContours(image, contours, hierarchy, e[01;31me[KCV_RETR_CCOMPe[me[K, CV_CHAIN_APPROX_SIMPLE);
| e[01;31me[K^~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1175:65:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_CHAIN_APPROX_SIMPLEe[me[K’ was not declared in this scope
1175 | cv::findContours(image, contours, hierarchy, CV_RETR_CCOMP, e[01;31me[KCV_CHAIN_APPROX_SIMPLEe[me[K);
| e[01;31me[K^~~~~~~~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1241:27:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_CALIB_CB_FILTER_QUADSe[me[K’ was not declared in this scope
1241 | if (!(flags & e[01;31me[KCV_CALIB_CB_FILTER_QUADSe[me[K) ||
| e[01;31me[K^~~~~~~~~~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:e[me[K In member function ‘e[01me[Kbool camodocal::Chessboard::checkChessboard(const cv::Mat&, cv::Size) conste[me[K’:
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1586:72:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_THRESH_BINARYe[me[K’ was not declared in this scope
1586 | cv::threshold(white, thresh, threshLevel + blackWhiteGap, 255, e[01;31me[KCV_THRESH_BINARYe[me[K);
| e[01;31me[K^~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1592:55:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_RETR_CCOMPe[me[K’ was not declared in this scope
1592 | cv::findContours(thresh, contours, hierarchy, e[01;31me[KCV_RETR_CCOMPe[me[K, CV_CHAIN_APPROX_SIMPLE);
| e[01;31me[K^~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1592:70:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_CHAIN_APPROX_SIMPLEe[me[K’ was not declared in this scope
1592 | cv::findContours(thresh, contours, hierarchy, CV_RETR_CCOMP, e[01;31me[KCV_CHAIN_APPROX_SIMPLEe[me[K);
| e[01;31me[K^~~~~~~~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1597:56:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_THRESH_BINARY_INVe[me[K’ was not declared in this scope
1597 | cv::threshold(black, thresh, threshLevel, 255, e[01;31me[KCV_THRESH_BINARY_INVe[me[K);
| e[01;31me[K^~~~~~~~~~~~~~~~~~~~e[me[K
[ 35%] e[32mBuilding CXX object VINS-Mono/camera_model/CMakeFiles/camera_model.dir/src/camera_models/CameraFactory.cc.oe[0m
make[2]: *** [VINS-Mono/camera_model/CMakeFiles/camera_model.dir/build.make:76: VINS-Mono/camera_model/CMakeFiles/camera_model.dir/src/calib/CameraCalibration.cc.o] Error 1
make[2]: *** Waiting for unfinished jobs…
[ 36%] e[32mBuilding CXX object VINS-Mono/camera_model/CMakeFiles/Calibration.dir/src/chessboard/Chessboard.cc.oe[0m
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/intrinsic_calib.cc:e[me[K In function ‘e[01me[Kint main(int, char)e[me[K’:
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/intrinsic_calib.cc:240:28:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_AAe[me[K’ was not declared in this scope
240 | 1, e[01;31me[KCV_AAe[me[K);
| e[01;31me[K^~~~~e[me[K
make[2]: *** [VINS-Mono/camera_model/CMakeFiles/camera_model.dir/build.make:63: VINS-Mono/camera_model/CMakeFiles/camera_model.dir/src/chessboard/Chessboard.cc.o] Error 1
[ 38%] e[32mBuilding CXX object VINS-Mono/camera_model/CMakeFiles/Calibration.dir/src/calib/CameraCalibration.cc.oe[0m
make[2]: *** [VINS-Mono/camera_model/CMakeFiles/Calibration.dir/build.make:63: VINS-Mono/camera_model/CMakeFiles/Calibration.dir/src/intrinsic_calib.cc.o] Error 1
make[2]: *** Waiting for unfinished jobs…
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc:e[me[K In member function ‘e[01me[Kvoid camodocal::CameraCalibration::drawResults(std::vectorcv::Mat&) conste[me[K’:
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc:235:40:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_GRAY2RGBe[me[K’ was not declared in this scope
235 | cv::cvtColor(image, image, e[01;31me[KCV_GRAY2RGBe[me[K);
| e[01;31me[K^~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc:253:37:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_AAe[me[K’ was not declared in this scope; did you mean ‘e[01me[KCV_AVXe[me[K’?
253 | 5, green, 2, e[01;31me[KCV_AAe[me[K, drawShiftBits);
| e[01;31me[K^~~~~e[me[K
| e[32me[KCV_AVXe[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc:275:24:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_AAe[me[K’ was not declared in this scope; did you mean ‘e[01me[KCV_AVXe[me[K’?
275 | 1, e[01;31me[KCV_AAe[me[K);
| e[01;31me[K^~~~~e[me[K
| e[32me[KCV_AVXe[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:e[me[K In constructor ‘e[01me[Kcamodocal::Chessboard::Chessboard(cv::Size, cv::Mat&)e[me[K’:
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:20:38:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_GRAY2BGRe[me[K’ was not declared in this scope
20 | cv::cvtColor(image, mSketch, e[01;31me[KCV_GRAY2BGRe[me[K);
| e[01;31me[K^~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:26:37:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_BGR2GRAYe[me[K’ was not declared in this scope
26 | cv::cvtColor(image, mImage, e[01;31me[KCV_BGR2GRAYe[me[K);
| e[01;31me[K^~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:e[me[K In member function ‘e[01me[Kvoid camodocal::Chessboard::findCorners(bool)e[me[K’:
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:34:43:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_CALIB_CB_ADAPTIVE_THRESHe[me[K’ was not declared in this scope
34 | e[01;31me[KCV_CALIB_CB_ADAPTIVE_THRESHe[me[K +
| e[01;31me[K^~~~~~~~~~~~~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:35:43:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_CALIB_CB_NORMALIZE_IMAGEe[me[K’ was not declared in this scope
35 | e[01;31me[KCV_CALIB_CB_NORMALIZE_IMAGEe[me[K +
| e[01;31me[K^~~~~~~~~~~~~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:36:43:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_CALIB_CB_FILTER_QUADSe[me[K’ was not declared in this scope
36 | e[01;31me[KCV_CALIB_CB_FILTER_QUADSe[me[K +
| e[01;31me[K^~~~~~~~~~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:37:43:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_CALIB_CB_FAST_CHECKe[me[K’ was not declared in this scope
37 | e[01;31me[KCV_CALIB_CB_FAST_CHECKe[me[K,
| e[01;31me[K^~~~~~~~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:e[me[K In member function ‘e[01me[Kbool camodocal::Chessboard::findChessboardCornersImproved(const cv::Mat&, const Size&, std::vector<cv::Point_ >&, int)e[me[K’:
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:144:43:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_CALIB_CB_NORMALIZE_IMAGEe[me[K’ was not declared in this scope
144 | if (image.channels() != 1 || (flags & e[01;31me[KCV_CALIB_CB_NORMALIZE_IMAGEe[me[K))
| e[01;31me[K^~~~~~~~~~~~~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:150:43:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_BGR2GRAYe[me[K’ was not declared in this scope
150 | cv::cvtColor(image, norm_img, e[01;31me[KCV_BGR2GRAYe[me[K);
| e[01;31me[K^~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:161:17:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_CALIB_CB_FAST_CHECKe[me[K’ was not declared in this scope
161 | if (flags & e[01;31me[KCV_CALIB_CB_FAST_CHECKe[me[K)
| e[01;31me[K^~~~~~~~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:192:25:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_CALIB_CB_ADAPTIVE_THRESHe[me[K’ was not declared in this scope
192 | if (flags & e[01;31me[KCV_CALIB_CB_ADAPTIVE_THRESHe[me[K)
| e[01;31me[K^~~~~~~~~~~~~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:198:61:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_ADAPTIVE_THRESH_MEAN_Ce[me[K’ was not declared in this scope
198 | cv::adaptiveThreshold(img, thresh_img, 255, e[01;31me[KCV_ADAPTIVE_THRESH_MEAN_Ce[me[K, CV_THRESH_BINARY, blockSize, (k/2)*5);
| e[01;31me[K^~~~~~~~~~~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:198:88:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_THRESH_BINARYe[me[K’ was not declared in this scope
198 | cv::adaptiveThreshold(img, thresh_img, 255, CV_ADAPTIVE_THRESH_MEAN_C, e[01;31me[KCV_THRESH_BINARYe[me[K, blockSize, (k/2)*5);
| e[01;31me[K^~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:207:67:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_THRESH_BINARYe[me[K’ was not declared in this scope
207 | cv::threshold(img, thresh_img, thresh_level, 255, e[01;31me[KCV_THRESH_BINARYe[me[K);
| e[01;31me[K^~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:215:57:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_SHAPE_CROSSe[me[K’ was not declared in this scope
215 | cv::Mat kernel1 = cv::getStructuringElement(e[01;31me[KCV_SHAPE_CROSSe[me[K, cv::Size(3,3), cv::Point(1,1));
| e[01;31me[K^~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:216:57:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_SHAPE_RECTe[me[K’ was not declared in this scope
216 | cv::Mat kernel2 = cv::getStructuringElement(e[01;31me[KCV_SHAPE_RECTe[me[K, cv::Size(3,3), cv::Point(1,1));
| e[01;31me[K^~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:320:43:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_TERMCRIT_EPSe[me[K’ was not declared in this scope
320 | cv::TermCriteria(e[01;31me[KCV_TERMCRIT_EPSe[me[K + CV_TERMCRIT_ITER, 30, 0.1));
| e[01;31me[K^~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:320:61:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_TERMCRIT_ITERe[me[K’ was not declared in this scope
320 | cv::TermCriteria(CV_TERMCRIT_EPS + e[01;31me[KCV_TERMCRIT_ITERe[me[K, 30, 0.1));
| e[01;31me[K^~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:e[me[K In member function ‘e[01me[Kvoid camodocal::Chessboard::generateQuads(std::vector<boost::shared_ptrcamodocal::ChessboardQuad >&, cv::Mat&, int, int, bool)e[me[K’:
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1175:50:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_RETR_CCOMPe[me[K’ was not declared in this scope
1175 | cv::findContours(image, contours, hierarchy, e[01;31me[KCV_RETR_CCOMPe[me[K, CV_CHAIN_APPROX_SIMPLE);
| e[01;31me[K^~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1175:65:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_CHAIN_APPROX_SIMPLEe[me[K’ was not declared in this scope
1175 | cv::findContours(image, contours, hierarchy, CV_RETR_CCOMP, e[01;31me[KCV_CHAIN_APPROX_SIMPLEe[me[K);
| e[01;31me[K^~~~~~~~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1241:27:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_CALIB_CB_FILTER_QUADSe[me[K’ was not declared in this scope
1241 | if (!(flags & e[01;31me[KCV_CALIB_CB_FILTER_QUADSe[me[K) ||
| e[01;31me[K^~~~~~~~~~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:e[me[K In member function ‘e[01me[Kbool camodocal::Chessboard::checkChessboard(const cv::Mat&, cv::Size) conste[me[K’:
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1586:72:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_THRESH_BINARYe[me[K’ was not declared in this scope
1586 | cv::threshold(white, thresh, threshLevel + blackWhiteGap, 255, e[01;31me[KCV_THRESH_BINARYe[me[K);
| e[01;31me[K^~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1592:55:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_RETR_CCOMPe[me[K’ was not declared in this scope
1592 | cv::findContours(thresh, contours, hierarchy, e[01;31me[KCV_RETR_CCOMPe[me[K, CV_CHAIN_APPROX_SIMPLE);
| e[01;31me[K^~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1592:70:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_CHAIN_APPROX_SIMPLEe[me[K’ was not declared in this scope
1592 | cv::findContours(thresh, contours, hierarchy, CV_RETR_CCOMP, e[01;31me[KCV_CHAIN_APPROX_SIMPLEe[me[K);
| e[01;31me[K^~~~~~~~~~~~~~~~~~~~~~e[me[K
e[01me[K/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1597:56:e[me[K e[01;31me[Kerror: e[me[K‘e[01me[KCV_THRESH_BINARY_INVe[me[K’ was not declared in this scope
1597 | cv::threshold(black, thresh, threshLevel, 255, e[01;31me[KCV_THRESH_BINARY_INVe[me[K);
| e[01;31me[K^~~~~~~~~~~~~~~~~~~~e[me[K
make[1]: *** [CMakeFiles/Makefile2:1802: VINS-Mono/camera_model/CMakeFiles/camera_model.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs…
make[2]: *** [VINS-Mono/camera_model/CMakeFiles/Calibration.dir/build.make:76: VINS-Mono/camera_model/CMakeFiles/Calibration.dir/src/chessboard/Chessboard.cc.o] Error 1
make[2]: *** [VINS-Mono/camera_model/CMakeFiles/Calibration.dir/build.make:89: VINS-Mono/camera_model/CMakeFiles/Calibration.dir/src/calib/CameraCalibration.cc.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:1829: VINS-Mono/camera_model/CMakeFiles/Calibration.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
e[31mInvoking e[1m"make -j4 -l4"e[22m failede[0m
e]0;user@raspberrypi: ~/catkin_wsae[01;32muser@raspberrypie[00m:e[01;34m~/catkin_wse[00m$

[ppoirier]

Oh, I see , it is because you use -j4 and the camera model job is not finished before the VINS build is started

Generally this error diseapers when you relaunch build

[Dr0ne_guy (Parker)]

I tried rebuilding 2-3 times, it’s still the same

I just did catkin_make

[ppoirier]

I am using catkin build = catkin tools

[Dr0ne_guy (Parker)]

I tried with catkin build and it’s still the same

Errors << camera_model:make /home/user/catkin_ws/logs/camera_model/build.make.000.log
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In constructor ‘camodocal::Chessboard::Chessboard(cv::Size, cv::Mat&)’:
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:20:38: error: ‘CV_GRAY2BGR’ was not declared in this scope
20 | cv::cvtColor(image, mSketch, CV_GRAY2BGR);
| ^~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:26:37: error: ‘CV_BGR2GRAY’ was not declared in this scope
26 | cv::cvtColor(image, mImage, CV_BGR2GRAY);
| ^~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In member function ‘void camodocal::Chessboard::findCorners(bool)’:
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:34:43: error: ‘CV_CALIB_CB_ADAPTIVE_THRESH’ was not declared in this scope
34 | CV_CALIB_CB_ADAPTIVE_THRESH +
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:35:43: error: ‘CV_CALIB_CB_NORMALIZE_IMAGE’ was not declared in this scope
35 | CV_CALIB_CB_NORMALIZE_IMAGE +
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:36:43: error: ‘CV_CALIB_CB_FILTER_QUADS’ was not declared in this scope
36 | CV_CALIB_CB_FILTER_QUADS +
| ^~~~~~~~~~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:37:43: error: ‘CV_CALIB_CB_FAST_CHECK’ was not declared in this scope
37 | CV_CALIB_CB_FAST_CHECK,
| ^~~~~~~~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In member function ‘bool camodocal::Chessboard::findChessboardCornersImproved(const cv::Mat&, const Size&, std::vector<cv::Point_ >&, int)’:
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:144:43: error: ‘CV_CALIB_CB_NORMALIZE_IMAGE’ was not declared in this scope
144 | if (image.channels() != 1 || (flags & CV_CALIB_CB_NORMALIZE_IMAGE))
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:150:43: error: ‘CV_BGR2GRAY’ was not declared in this scope
150 | cv::cvtColor(image, norm_img, CV_BGR2GRAY);
| ^~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:161:17: error: ‘CV_CALIB_CB_FAST_CHECK’ was not declared in this scope
161 | if (flags & CV_CALIB_CB_FAST_CHECK)
| ^~~~~~~~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:192:25: error: ‘CV_CALIB_CB_ADAPTIVE_THRESH’ was not declared in this scope
192 | if (flags & CV_CALIB_CB_ADAPTIVE_THRESH)
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:198:61: error: ‘CV_ADAPTIVE_THRESH_MEAN_C’ was not declared in this scope
198 | cv::adaptiveThreshold(img, thresh_img, 255, CV_ADAPTIVE_THRESH_MEAN_C, CV_THRESH_BINARY, blockSize, (k/2)5);
| ^~~~~~~~~~~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:198:88: error: ‘CV_THRESH_BINARY’ was not declared in this scope
198 | cv::adaptiveThreshold(img, thresh_img, 255, CV_ADAPTIVE_THRESH_MEAN_C, CV_THRESH_BINARY, blockSize, (k/2)5);
| ^~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:207:67: error: ‘CV_THRESH_BINARY’ was not declared in this scope
207 | cv::threshold(img, thresh_img, thresh_level, 255, CV_THRESH_BINARY);
| ^~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:215:57: error: ‘CV_SHAPE_CROSS’ was not declared in this scope
215 | cv::Mat kernel1 = cv::getStructuringElement(CV_SHAPE_CROSS, cv::Size(3,3), cv::Point(1,1));
| ^~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:216:57: error: ‘CV_SHAPE_RECT’ was not declared in this scope
216 | cv::Mat kernel2 = cv::getStructuringElement(CV_SHAPE_RECT, cv::Size(3,3), cv::Point(1,1));
| ^~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:320:43: error: ‘CV_TERMCRIT_EPS’ was not declared in this scope
320 | cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
| ^~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:320:61: error: ‘CV_TERMCRIT_ITER’ was not declared in this scope
320 | cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
| ^~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In member function ‘void camodocal::Chessboard::generateQuads(std::vector<boost::shared_ptrcamodocal::ChessboardQuad >&, cv::Mat&, int, int, bool)’:
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1175:50: error: ‘CV_RETR_CCOMP’ was not declared in this scope
1175 | cv::findContours(image, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
| ^~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1175:65: error: ‘CV_CHAIN_APPROX_SIMPLE’ was not declared in this scope
1175 | cv::findContours(image, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
| ^~~~~~~~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1241:27: error: ‘CV_CALIB_CB_FILTER_QUADS’ was not declared in this scope
1241 | if (!(flags & CV_CALIB_CB_FILTER_QUADS) ||
| ^~~~~~~~~~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In member function ‘bool camodocal::Chessboard::checkChessboard(const cv::Mat&, cv::Size) const’:
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1586:72: error: ‘CV_THRESH_BINARY’ was not declared in this scope
1586 | cv::threshold(white, thresh, threshLevel + blackWhiteGap, 255, CV_THRESH_BINARY);
| ^~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1592:55: error: ‘CV_RETR_CCOMP’ was not declared in this scope
1592 | cv::findContours(thresh, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
| ^~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1592:70: error: ‘CV_CHAIN_APPROX_SIMPLE’ was not declared in this scope
1592 | cv::findContours(thresh, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
| ^~~~~~~~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1597:56: error: ‘CV_THRESH_BINARY_INV’ was not declared in this scope
1597 | cv::threshold(black, thresh, threshLevel, 255, CV_THRESH_BINARY_INV);
| ^~~~~~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/intrinsic_calib.cc: In function ‘int main(int, char)’:
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/intrinsic_calib.cc:240:28: error: ‘CV_AA’ was not declared in this scope
240 | 1, CV_AA);
| ^~~~~
make[2]: *** [CMakeFiles/camera_model.dir/build.make:63: CMakeFiles/camera_model.dir/src/chessboard/Chessboard.cc.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:400: CMakeFiles/camera_model.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs…
make[2]: *** [CMakeFiles/Calibration.dir/build.make:63: CMakeFiles/Calibration.dir/src/intrinsic_calib.cc.o] Error 1
make[2]: *** Waiting for unfinished jobs…
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In constructor ‘camodocal::Chessboard::Chessboard(cv::Size, cv::Mat&)’:
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:20:38: error: ‘CV_GRAY2BGR’ was not declared in this scope
20 | cv::cvtColor(image, mSketch, CV_GRAY2BGR);
| ^~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:26:37: error: ‘CV_BGR2GRAY’ was not declared in this scope
26 | cv::cvtColor(image, mImage, CV_BGR2GRAY);
| ^~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In member function ‘void camodocal::Chessboard::findCorners(bool)’:
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:34:43: error: ‘CV_CALIB_CB_ADAPTIVE_THRESH’ was not declared in this scope
34 | CV_CALIB_CB_ADAPTIVE_THRESH +
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:35:43: error: ‘CV_CALIB_CB_NORMALIZE_IMAGE’ was not declared in this scope
35 | CV_CALIB_CB_NORMALIZE_IMAGE +
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:36:43: error: ‘CV_CALIB_CB_FILTER_QUADS’ was not declared in this scope
36 | CV_CALIB_CB_FILTER_QUADS +
| ^~~~~~~~~~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:37:43: error: ‘CV_CALIB_CB_FAST_CHECK’ was not declared in this scope
37 | CV_CALIB_CB_FAST_CHECK,
| ^~~~~~~~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In member function ‘bool camodocal::Chessboard::findChessboardCornersImproved(const cv::Mat&, const Size&, std::vector<cv::Point_ >&, int)’:
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:144:43: error: ‘CV_CALIB_CB_NORMALIZE_IMAGE’ was not declared in this scope
144 | if (image.channels() != 1 || (flags & CV_CALIB_CB_NORMALIZE_IMAGE))
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:150:43: error: ‘CV_BGR2GRAY’ was not declared in this scope
150 | cv::cvtColor(image, norm_img, CV_BGR2GRAY);
| ^~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:161:17: error: ‘CV_CALIB_CB_FAST_CHECK’ was not declared in this scope
161 | if (flags & CV_CALIB_CB_FAST_CHECK)
| ^~~~~~~~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:192:25: error: ‘CV_CALIB_CB_ADAPTIVE_THRESH’ was not declared in this scope
192 | if (flags & CV_CALIB_CB_ADAPTIVE_THRESH)
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:198:61: error: ‘CV_ADAPTIVE_THRESH_MEAN_C’ was not declared in this scope
198 | cv::adaptiveThreshold(img, thresh_img, 255, CV_ADAPTIVE_THRESH_MEAN_C, CV_THRESH_BINARY, blockSize, (k/2)*5);
| ^~~~~~~~~~~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:198:88: error: ‘CV_THRESH_BINARY’ was not declared in this scope
198 | cv::adaptiveThreshold(img, thresh_img, 255, CV_ADAPTIVE_THRESH_MEAN_C, CV_THRESH_BINARY, blockSize, (k/2)*5);
| ^~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:207:67: error: ‘CV_THRESH_BINARY’ was not declared in this scope
207 | cv::threshold(img, thresh_img, thresh_level, 255, CV_THRESH_BINARY);
| ^~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:215:57: error: ‘CV_SHAPE_CROSS’ was not declared in this scope
215 | cv::Mat kernel1 = cv::getStructuringElement(CV_SHAPE_CROSS, cv::Size(3,3), cv::Point(1,1));
| ^~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:216:57: error: ‘CV_SHAPE_RECT’ was not declared in this scope
216 | cv::Mat kernel2 = cv::getStructuringElement(CV_SHAPE_RECT, cv::Size(3,3), cv::Point(1,1));
| ^~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:320:43: error: ‘CV_TERMCRIT_EPS’ was not declared in this scope
320 | cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
| ^~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:320:61: error: ‘CV_TERMCRIT_ITER’ was not declared in this scope
320 | cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
| ^~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In member function ‘void camodocal::Chessboard::generateQuads(std::vector<boost::shared_ptrcamodocal::ChessboardQuad >&, cv::Mat&, int, int, bool)’:
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1175:50: error: ‘CV_RETR_CCOMP’ was not declared in this scope
1175 | cv::findContours(image, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
| ^~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1175:65: error: ‘CV_CHAIN_APPROX_SIMPLE’ was not declared in this scope
1175 | cv::findContours(image, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
| ^~~~~~~~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1241:27: error: ‘CV_CALIB_CB_FILTER_QUADS’ was not declared in this scope
1241 | if (!(flags & CV_CALIB_CB_FILTER_QUADS) ||
| ^~~~~~~~~~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc: In member function ‘bool camodocal::Chessboard::checkChessboard(const cv::Mat&, cv::Size) const’:
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1586:72: error: ‘CV_THRESH_BINARY’ was not declared in this scope
1586 | cv::threshold(white, thresh, threshLevel + blackWhiteGap, 255, CV_THRESH_BINARY);
| ^~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1592:55: error: ‘CV_RETR_CCOMP’ was not declared in this scope
1592 | cv::findContours(thresh, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
| ^~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1592:70: error: ‘CV_CHAIN_APPROX_SIMPLE’ was not declared in this scope
1592 | cv::findContours(thresh, contours, hierarchy, CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
| ^~~~~~~~~~~~~~~~~~~~~~
/home/user/catkin_ws/src/VINS-Mono/camera_model/src/chessboard/Chessboard.cc:1597:56: error: ‘CV_THRESH_BINARY_INV’ was not declared in this scope
1597 | cv::threshold(black, thresh, threshLevel, 255, CV_THRESH_BINARY_INV);
| ^~~~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/Calibration.dir/build.make:76: CMakeFiles/Calibration.dir/src/chessboard/Chessboard.cc.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:157: CMakeFiles/Calibration.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
cd /home/user/catkin_ws/build/camera_model; catkin build --get-env camera_model | catkin env -si /usr/bin/make --jobserver-auth=3,4; cd -

…
Failed << camera_model:make [ Exited with code 2 ]
Failed <<< camera_model [ 1 minute and 24.7 seconds ]
Abandoned <<< ar_demo [ Unrelated job failed ]
Abandoned <<< feature_tracker [ Unrelated job failed ]
Abandoned <<< pose_graph [ Unrelated job failed ]
Finished <<< benchmark_publisher [ 1 minute and 43.9 seconds ]

[ppoirier]

Have you make and installed opencv 4.2 ?