Nvidia Jetson NX 相机和雷达的同步标定

jetson 板子上没有装中文输入法，所以本文在板子上写的部分就是英文，在自己电脑上就用中文，导致了本文中英文混杂。

Install Eigen 3.3.4

1. Download source code

from Eigen Download to download Eigen3.3.4

2. Installing without using CMake

nvidia@nvidia-desktop:~/Downloads/eigen-3.3.4$ 
sudo cp -r Eigen /usr/local/include/
nvidia@nvidia-desktop:~/Downloads/eigen-3.3.4$ 
sudo cp -r unsupported /usr/local/include/

ERROR

catkin_make 编译过程遇到过的报错:

CMake Error at /usr/local/lib/cmake/Ceres/CeresConfig.cmake:85 (message):
  Failed to find Ceres - Found Eigen dependency, but the version of Eigen
  found (3.3.9) does not exactly match the version of Eigen Ceres was
  compiled with (3.3.4).  

用

sudo find / -name "eigen"

查到了这个冲突版本的 Eigen 在conda环境（忘记了conda环境还安装过Eigen），然后 conda uninstall 卸载掉就好了。

---

Install VTK7.1.1

Review the ERROR

-- The imported target "vtkRenderingPythonTkWidgets" references the file
   "/usr/lib/aarch64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-6.3/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtk" references the file
   "/usr/bin/vtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-6.3/VTKTargets.cmake"
but not all the files it references.

Solution

sudo ln -s /usr/lib/python2.7/dist-packages/vtk/libvtkRenderingPythonTkWidgets.aarch64-linux-gnu.so /usr/lib/aarch64-linux-gnu/libvtkRenderingPythonTkWidgets.so

What is VTK?

The Visualization Toolkit (VTK) is an open-source, freely available software system for 3D computer graphics, modeling, image processing, volume rendering, scientific visualization, and 2D plotting. It supports a wide variety of visualization algorithms and advanced modeling techniques, and it takes advantage of both threaded and distributed memory parallel processing for speed and scalability, respectively.

安装ccmake 和 VTK 的依赖项

sudo apt-get install cmake-curses-gui
sudo apt-get install freeglut3-dev

编译安装

在终端cd到vtk目录下的build文件夹

mkdir build && cd build 
cmake ..
sudo make -j6
sudo make install

---

Install PCL

不要编译安装了！！！
坑很多的，一条命令它不香吗。

sudo apt install libpcl-dev

Install Ceres

这个是用源码编译安装的，没有坑我就没记录

---

Download source code from GitHub

Gitclone [livox_camera_lidar_calibration]

git clone https://github.com/Livox-SDK/livox_camera_lidar_calibration.git

put the code in the ~/Documents/ws_livox/src
such as the below:

(pyqt) nvidia@nvidia-desktop:~/Documents/ws_livox$ tree -L 2
.

`-- src
    |-- livox_camera_lidar_calibration ## package 1
    `-- livox_ros_driver ## package 2

编译

在标定相机和激光雷达之前我已经安装了livox_ros_driver，所以在目录 ws_livox 目录下面有 devel 和 build两个文件夹，直接把这两个删掉。

编译

catkin_make

After compiling success, the structure of ws_livox is :

nvidia@nvidia-desktop:~/Documents/ws_livox$ tree ./ -L 2
./
|-- build
|   |-- CATKIN_IGNORE
|   |-- CMakeCache.txt
|   |-- CMakeFiles
|   |-- CTestConfiguration.ini
|   |-- CTestCustom.cmake
|   |-- CTestTestfile.cmake
|   |-- Makefile
|   |-- atomic_configure
|   |-- catkin
|   |-- catkin_generated
|   |-- catkin_make.cache
|   |-- cmake_install.cmake
|   |-- gtest
|   |-- livox_camera_lidar_calibration
|   |-- livox_ros_driver
|   `-- test_results
|-- devel
|   |-- _setup_util.py
|   |-- cmake.lock
|   |-- env.sh
|   |-- include
|   |-- lib
|   |-- local_setup.bash
|   |-- local_setup.sh
|   |-- local_setup.zsh
|   |-- setup.bash
|   |-- setup.sh
|   |-- setup.zsh
|   `-- share
`-- src
    |-- CMakeLists.txt -> /opt/ros/melodic/share/catkin/cmake/toplevel.cmake
    |-- livox_camera_lidar_calibration
    `-- livox_ros_driver

16 directories, 18 files