编译的网络环境:能上外网
系统:ubuntu18.04
一、安装准备:安装第三方库依赖
sudo apt-get install python-setuptools python-rosinstall ipython
sudo apt-get install libeigen3-dev libboost-all-dev doxygen libopencv-dev
sudo apt-get install ros-melodic-vision-opencv ros-indigo-image-transport-plugins
sudo apt-get install ros-melodic-cmake-modules python-software-properties
sudo apt-get install software-properties-common libpoco-dev python-matplotlib
sudo apt-get install python-scipy python-git python-pip ipython libtbb-dev
sudo apt-get install libblas-dev liblapack-dev python-catkin-tools libv4l-dev
sudo pip install python-igraph --upgrade
如果执行失败,则换成下面命令:
sudo apt-get install python-igraph
二、创建工作空间与代码下载
//创建ROS工作空间与编译环境
mkdir -p ~/kalibr_workspace/src
cd ~/kalibr_workspace/src
catkin_init_workspace
cd ~/kalibr_workspace
source /opt/ros/melodic/setup.bash
catkin init
catkin config --extend /opt/ros/melodic(根据自己的ROS版本而定)
catkin config --merge-devel # Necessary for catkin_tools >= 0.4.
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
//代码下载
cd ~/kalibr_workspace/src
git clone https://github.com/ethz-asl/Kalibr.git
三、代码修改与编译
刚下载完代码,别急着编译,多半会因为与自己系统的opencv版本和eigen版本不匹配而失败。先按照如下操作修改代码:
1、问题一:关于catkin_make过程中下载suitesparse过久甚至失败的问题:
在安装kalibr时的suitesprse库时,对应的cmakelists中会通过wget下载压缩包,若无法下载则整个kalibr都无法成功安装,那么可以进行如下修改:
在suitesprse包里面的CMakeLists.txt里面的部分代码进行替换:
将:
ExternalProject_Add(suitesparse_src
CMAKE_ARGS -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER} -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}
DOWNLOAD_COMMAND rm -f SuiteSparse-${VERSION}.tar.gz && wget http://faculty.cse.tamu.edu/davis/SuiteSparse/SuiteSparse-${VERSION}.tar.gz
PATCH_COMMAND tar -xzf ../SuiteSparse-${VERSION}.tar.gz && rm -rf ../suitesparse_src-build/SuiteSparse && sed -i.bu "s/\\/usr\\/local\\/lib/..\\/lib/g" SuiteSparse/SuiteSparse_config/SuiteSparse_config.mk && sed -i.bu "s/\\/usr\\/local\\/include/..\\/include/g" SuiteSparse/SuiteSparse_config/SuiteSparse_config.mk && mv SuiteSparse ../suitesparse_src-build/
CONFIGURE_COMMAND ""
BUILD_COMMAND cd SuiteSparse && make library -j8 -l8
INSTALL_COMMAND cd SuiteSparse && mkdir -p lib && mkdir -p include && make install && cd lib && cp libamd.2.3.1.a libcamd.2.3.1.a libcholmod.2.1.2.a libcxsparse.3.1.2.a libldl.2.1.0.a libspqr.1.3.1.a libumfpack.5.6.2.a libamd.a libcamd.a libcholmod.a libcxsparse.a libldl.a libspqr.a libumfpack.a libbtf.1.2.0.a libccolamd.2.8.0.a libcolamd.2.8.0.a libklu.1.2.1.a librbio.2.1.1.a libsuitesparseconfig.4.2.1.a libbtf.a libccolamd.a libcolamd.a libklu.a librbio.a libsuitesparseconfig.a ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_LIB_DESTINATION}/ && cd .. && mkdir -p ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/suitesparse && cd include && cp amd.h cholmod_matrixops.h SuiteSparseQR_definitions.h umfpack_load_symbolic.h umfpack_save_symbolic.h btf.h cholmod_modify.h SuiteSparseQR.hpp umfpack_numeric.h umfpack_scale.h camd.h cholmod_partition.h umfpack_col_to_triplet.h umfpack_qsymbolic.h umfpack_solve.h ccolamd.h cholmod_supernodal.h umfpack_defaults.h umfpack_report_control.h umfpack_symbolic.h cholmod_blas.h cholmod_template.h umfpack_free_numeric.h umfpack_report_info.h umfpack_tictoc.h cholmod_camd.h colamd.h umfpack_free_symbolic.h umfpack_report_matrix.h umfpack_timer.h cholmod_check.h cs.h umfpack_get_determinant.h umfpack_report_numeric.h umfpack_transpose.h cholmod_cholesky.h klu.h umfpack_get_lunz.h umfpack_report_perm.h umfpack_triplet_to_col.h cholmod_complexity.h ldl.h umfpack_get_numeric.h umfpack_report_status.h umfpack_wsolve.h cholmod_config.h RBio.h umfpack_get_symbolic.h umfpack_report_symbolic.h cholmod_core.h spqr.hpp umfpack_global.h umfpack_report_triplet.h cholmod.h SuiteSparse_config.h umfpack.h umfpack_report_vector.h cholmod_io64.h SuiteSparseQR_C.h umfpack_load_numeric.h umfpack_save_numeric.h ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/suitesparse
)
替换为:
ExternalProject_Add(suitesparse_src
CMAKE_ARGS -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER} -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}
DOWNLOAD_COMMAND rm -f SuiteSparse-${VERSION}.tar.gz && wget -O SuiteSparse-${VERSION}.tar.gz "https://github.com/jluttine/suitesparse/archive/v${VERSION}.tar.gz"
#DOWNLOAD_COMMAND wget "https://www.baidu.com"
PATCH_COMMAND tar -xzf ../SuiteSparse-${VERSION}.tar.gz && mv suitesparse-${VERSION} ./SuiteSparse && rm -rf ../suitesparse_src-build/SuiteSparse && sed -i.bu "s/\\/usr\\/local\\/lib/..\\/lib/g" SuiteSparse/SuiteSparse_config/SuiteSparse_config.mk && sed -i.bu "s/\\/usr\\/local\\/include/..\\/include/g" SuiteSparse/SuiteSparse_config/SuiteSparse_config.mk && mv SuiteSparse ../suitesparse_src-build/
CONFIGURE_COMMAND ""
BUILD_COMMAND cd SuiteSparse && make library -j8 -l8
INSTALL_COMMAND cd SuiteSparse && mkdir -p lib && mkdir -p include && make install && cd lib && cp libamd.2.3.1.a libcamd.2.3.1.a libcholmod.2.1.2.a libcxsparse.3.1.2.a libldl.2.1.0.a libspqr.1.3.1.a libumfpack.5.6.2.a libamd.a libcamd.a libcholmod.a libcxsparse.a libldl.a libspqr.a libumfpack.a libbtf.1.2.0.a libccolamd.2.8.0.a libcolamd.2.8.0.a libklu.1.2.1.a librbio.2.1.1.a libsuitesparseconfig.4.2.1.a libbtf.a libccolamd.a libcolamd.a libklu.a librbio.a libsuitesparseconfig.a ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_LIB_DESTINATION}/ && cd .. && mkdir -p ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/suitesparse && cd include && cp amd.h cholmod_matrixops.h SuiteSparseQR_definitions.h umfpack_load_symbolic.h umfpack_save_symbolic.h btf.h cholmod_modify.h SuiteSparseQR.hpp umfpack_numeric.h umfpack_scale.h camd.h cholmod_partition.h umfpack_col_to_triplet.h umfpack_qsymbolic.h umfpack_solve.h ccolamd.h cholmod_supernodal.h umfpack_defaults.h umfpack_report_control.h umfpack_symbolic.h cholmod_blas.h cholmod_template.h umfpack_free_numeric.h umfpack_report_info.h umfpack_tictoc.h cholmod_camd.h colamd.h umfpack_free_symbolic.h umfpack_report_matrix.h umfpack_timer.h cholmod_check.h cs.h umfpack_get_determinant.h umfpack_report_numeric.h umfpack_transpose.h cholmod_cholesky.h klu.h umfpack_get_lunz.h umfpack_report_perm.h umfpack_triplet_to_col.h cholmod_complexity.h ldl.h umfpack_get_numeric.h umfpack_report_status.h umfpack_wsolve.h cholmod_config.h RBio.h umfpack_get_symbolic.h umfpack_report_symbolic.h cholmod_core.h spqr.hpp umfpack_global.h umfpack_report_triplet.h cholmod.h SuiteSparse_config.h umfpack.h umfpack_report_vector.h cholmod_io64.h SuiteSparseQR_C.h umfpack_load_numeric.h umfpack_save_numeric.h ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/suitesparse
)
2、问题二:对于aslam_imgproc编译失败:
在文件kalibr/aslam_cv/aslam_imgproc/include/aslam/implementation/aslamcv_helper.hpp替换"CvSize" 成为"cv::Size" (有三个地方)
3、修改完上面两个地方后,先进行编译:
cd ~/kalibr_workspace
catkin build -DCMAKE_BUILD_TYPE=Release -j4
编译过程会有些久
如果你的opencv版本没问题,则不会报出相关的opencv错误,只会有一些警告而已。
4、出现opencv相关错误
如果出现了opencv相关错误,则根据报错的内容,定位到相关文件下的CMakeLists.txt,修改OpenCV库的链接:(我的opencv版本为3.3.1)
find_package(OpenCV 3.3.1 REQUIRED)
message(WARNING "OpenCV_VERSION: ${OpenCV_VERSION}")
修改完所有的opencv报错后,就能够编译成功了,只是会有一些警告,没有影响。
(后续将更新使用kalibr标定Realsense D455相机的教程)
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