need help in setting up openVINS in ROS2 Humble

[Gunji-Danaiah]

Hi,
I'm using a ros2 humble in docker container in jetson nano and i want to localise d455 camera which is connected to jetson nano using openVINS. i'm new to this area and after doing some reasearch i could not find sources for openVINS in humble distribution that is why i'm seeeking your kind help.

[omeryagiz]

What do you need about it? I built successfully on ubuntu 22.04 with ros2 humble and trying to set for my own config.

[gmmyung]

How did you solve the opencv problem? it seems like the jetpack 6.0 contains a pre-built opencv but it lacks the aruco feature set, so it keeps failing to build.

[pfabreu]

How did you solve the opencv problem? it seems like the jetpack 6.0 contains a pre-built opencv but it lacks the aruco feature set, so it keeps failing to build.

I think that pre-built opencv has a new aruco API so the headers are now at objdect. Do this find /usr/include -name "aruco" 2>/dev/null to see if that is correct (for example /usr/include/opencv4/opencv2/objdetect/aruco_dictionary.hpp
/usr/include/opencv4/opencv2/objdetect/aruco_detector.hpp). An ugly hack i found is to create a header at /usr/include/opencv4/opencv2/aruco.hpp where openVINS expects it to be that includes the new headers. so do sudo vim /usr/include/opencv4/opencv2/aruco.hpp and then (for example):

#ifndef OPENCV_ARUCO_HPP
#define OPENCV_ARUCO_HPP

// Include all ArUco-related headers from the objdetect module
#include <opencv2/objdetect/aruco_dictionary.hpp>
#include <opencv2/objdetect/aruco_detector.hpp>
#include <opencv2/objdetect/aruco_board.hpp>
#include <opencv2/objdetect/charuco_detector.hpp>

// Include core OpenCV headers that ArUco functionality depends on
#include <opencv2/opencv.hpp>
#include <opencv2/objdetect.hpp>

// Namespace compatibility - newer OpenCV puts ArUco in cv::aruco
namespace cv {
namespace aruco {
    // Re-export the main ArUco classes for backward compatibility
    using Dictionary = cv::aruco::Dictionary;
    using DetectorParameters = cv::aruco::DetectorParameters;
    using ArucoDetector = cv::aruco::ArucoDetector;
    using Board = cv::aruco::Board;
    using GridBoard = cv::aruco::GridBoard;
    using CharucoBoard = cv::aruco::CharucoBoard;
}
}

#endif // OPENCV_ARUCO_HPP

then try to build again. This needs a pull request to be properly fixed.