gvins编译运行 gvins_feature_tracker process has died

kobosp@NUC12U:~/ublox_driver/catkin_ws$ roslaunch gvins visensor_f9p.launch
… logging to /home/kobosp/.ros/log/54bce4dc-0920-11ee-ab99-fb33f8722dbe/roslaunch-NUC12U-10006.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://NUC12U:46575/

SUMMARY

PARAMETERS

• /gvins/config_file: /home/kobosp/ublo…
• /gvins/gvins_folder: /home/kobosp/ublo…
• /gvins_feature_tracker/config_file: /home/kobosp/ublo…
• /gvins_feature_tracker/gvins_folder: /home/kobosp/ublo…
• /rosdistro: noetic
• /rosversion: 1.16.0

NODES
/
gvins (gvins/gvins)
gvins_feature_tracker (gvins_feature_tracker/gvins_feature_tracker)

auto-starting new master
process[master]: started with pid [10029]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 54bce4dc-0920-11ee-ab99-fb33f8722dbe
process[rosout-1]: started with pid [10054]
started core service [/rosout]
process[gvins_feature_tracker-2]: started with pid [10061]
process[gvins-3]: started with pid [10062]
[ INFO] [1686574496.399852568]: Loaded config_file: /home/kobosp/ublox_driver/catkin_ws/src/GVINS/estimator/…/config/visensor_f9p/visensor_left_f9p_config.yaml
result path /home/kobosp/output/vins_result_no_loop.csv
[ INFO] [1686574496.400767073]: ROW: 480.000000 COL: 752.000000
[ WARN] [1686574496.400780137]: fix extrinsic param
[ INFO] [1686574496.400832449]: Extrinsic_R :
0.999989 -0.00432278 0.00179891
0.00432766 0.999987 -0.00271802
-0.00178714 0.00272578 0.999995
[ INFO] [1686574496.400846006]: Extrinsic_T :
-0.0759473 -0.00393205 -0.0016395
[ INFO] [1686574496.400856433]: Synchronized sensors, fix time offset: 0
[ INFO] [1686574496.400880874]: GNSS enabled
[ INFO] [1686574496.400897505]: init begins
[gvins_feature_tracker-2] process has died [pid 10061, exit code -11, cmd /home/kobosp/ublox_driver/catkin_ws/devel/lib/gvins_feature_tracker/gvins_feature_tracker __name:=gvins_feature_tracker __log:=/home/kobosp/.ros/log/54bce4dc-0920-11ee-ab99-fb33f8722dbe/gvins_feature_tracker-2.log].
log file: /home/kobosp/.ros/log/54bce4dc-0920-11ee-ab99-fb33f8722dbe/gvins_feature_tracker-2*.log
^[[AC[gvins-3] killing on exit
terminate called without an active exception
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor…
… shutting down processing monitor complete
done

kobosp@NUC12U:~/ublox_driver/catkin_ws$ rosrun gvins_feature_tracker gvins_feature_tracker _config_file:=/home/kobosp/ublox_driver/catkin_ws/src/GVINS/config/visensor_f9p/visensor_left_f9p_config.yaml _gvins_folder:=/home/kobosp/ublox_driver/catkin_ws/src/GVINS
[ INFO] [1686577737.209448022]: Loaded config_file: /home/kobosp/ublox_driver/catkin_ws/src/GVINS/config/visensor_f9p/visensor_left_f9p_config.yaml
[ INFO] [1686577737.210939339]: Loaded gvins_folder: /home/kobosp/ublox_driver/catkin_ws/src/GVINS
[ INFO] [1686577737.210962505]: reading paramerter of camera /home/kobosp/ublox_driver/catkin_ws/src/GVINS/config/visensor_f9p/visensor_left_f9p_config.yaml
段错误 (核心已转储)

(1)将camera_model包改成兼容opencv4

在camera_model包中的头文件Chessboard.h中添加
#include
#include
在CameraCalibration.h中添加
#include
#include