ROS回顾学习(10): 项目研究中遇到问题记录2

1.ubuntu更新包

	sudo apt-get install --only-upgrade libusb-1.0-0-dev  ## 单独更新一个包

2. ROS_INFO等输出警告

		/opt/ros/kinetic/include/ros/console.h:346:176: 
		warning: format ‘%i’ expects argument of type ‘int’, but argument 8 has type ‘std::vector<cv::Point_<float> >::size_type {aka long unsigned int}’ [-Wformat=]
	     ::ros::console::print(filter, __rosconsole_define_location__loc.logger_, __rosconsole_define_location__loc.level_, __FILE__, __LINE__, __ROSCONSOLE_FUNCTION__, __VA_ARGS__)
		                                                                                                                                                                        ^
	/opt/ros/kinetic/include/ros/console.h:349:5: note: in expansion of macro ‘ROSCONSOLE_PRINT_AT_LOCATION_WITH_FILTER’
	     ROSCONSOLE_PRINT_AT_LOCATION_WITH_FILTER(0, __VA_ARGS__)
	     ^
	/opt/ros/kinetic/include/ros/console.h:379:7: note: in expansion of macro ‘ROSCONSOLE_PRINT_AT_LOCATION’
	       ROSCONSOLE_PRINT_AT_LOCATION(__VA_ARGS__); \
	       ^
	/opt/ros/kinetic/include/ros/console.h:561:35: note: in expansion of macro ‘ROS_LOG_COND’
	 #define ROS_LOG(level, name, ...) ROS_LOG_COND(true, level, name, __VA_ARGS__)
		                           ^
	/opt/ros/kinetic/include/rosconsole/macros_generated.h:110:23: note: in expansion of macro ‘ROS_LOG’
	 #define ROS_INFO(...) ROS_LOG(::ros::console::levels::Info, ROSCONSOLE_DEFAULT_NAME, __VA_ARGS__)
		               ^
	/home/ian/catkin_ws/src/VINS-Mono/feature_tracker/src/feature_tracker_node.cpp:294:2: note: in expansion of macro ‘ROS_INFO’
	  ROS_INFO("n_pt.size : %i", trackerData[0].n_pts.size());

错误原因： ROS_INFO输出数据格式不对，对double型数据： “%ud”, 对int型数据：“%zd”

参考链接

3.Eigen::MatrixXd 与 cv::Mat数据类型的相互转换

	cv::Mat cConverter::Matrix3dtoCvMat(const Eigen::Matrix3d &m)
    {
        cv::Mat cvMat(3,3,CV_32F);
        for(int i=0;i<3;i++)
        for(int j=0; j<3; j++)
        cvMat.at<float>(i,j)=m(i,j);
 
        return cvMat.clone();
    }

 
      Eigen::Matrix<double,3,3> cConverter::toMatrix3d(const cv::Mat &cvMat3)
      {
          Eigen::Matrix<double,3,3> M;
 
          M << cvMat3.at<float>(0,0), cvMat3.at<float>(0,1), cvMat3.at<float>(0,2),
          cvMat3.at<float>(1,0), cvMat3.at<float>(1,1), cvMat3.at<float>(1,2),
          cvMat3.at<float>(2,0), cvMat3.at<float>(2,1), cvMat3.at<float>(2,2);
 
          return M;
      }

更多其他的Matrix+SO+Mat+g2o::SE3Quat相互转换

4. ubuntu解决依赖包冲突

安装aptitude

	sudo apt-get install aptitude

使用aptitude

	sudo aptitude install <PACKAGE_NAME>

根据提示选Y/N

5. catkin_make 出现gcc错误： Error in ‘/usr/bin/c++’:

可通过这两个指令查看相关依赖：

	`ll`  ##查看可执行文件的指向的何处，如 ll  /usr/bin/gcc   
	`ldd` 	##查看库的相互依赖，　如　ldd /usr/bin/gcc