koide3/direct_visual_lidar_calibration记录

0. 本人配置平台为ubuntu22.04,使用ros的版本为humble

1. 搜索Installation - direct_visual_lidar_calibration 

2. 按照官网教程装依赖

# Install dependencies

# Install GTSAM

在Install Ceres中开始出现报错：

git clone https://github.com/ceres-solver/ceres-solver

会发现git下来的文件中/home/xxx/ceres-solver/third_party/abseil-cpp为空，因此需要更换clone选项：

git clone --recurse-submodules https://github.com/ceres-solver/ceres-solver

此后根据官网教程继续编译。

3.Build direct_visual_lidar_calibration

3.1）在本人第一次编译中遇到如下报错

CMake Error at CMakeLists.txt:12 (if):
  if given arguments:

    "EQUAL" "1"

  Unknown arguments specified

解决方式：

找到功能包中CMakeLists.txt:12的位置，我直接把对于ros1部分的if判断注释掉，直接执行ros2部分。

3.2）在本人第二次编译中遇到如下报错：

CMake Error at CMakeLists.txt:18 (find_package):
  By not providing "Findament_cmake_auto.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "ament_cmake_auto", but CMake did not find one.

  Could not find a package configuration file provided by "ament_cmake_auto"
  with any of the following names:

    ament_cmake_autoConfig.cmake
    ament_cmake_auto-config.cmake

  Add the installation prefix of "ament_cmake_auto" to CMAKE_PREFIX_PATH or
  set "ament_cmake_auto_DIR" to a directory containing one of the above
  files.  If "ament_cmake_auto" provides a separate development package or
  SDK, be sure it has been installed.

解决方式：

当然是忘记source /opt/ros/humble/setup.bash

3.3）在本人第三次编译中遇到如下报错：

CMake Error at CMakeLists.txt:24 (find_package):
  Found package configuration file:

    /usr/local/lib/cmake/Ceres/CeresConfig.cmake

  but it set Ceres_FOUND to FALSE so package "Ceres" is considered to be NOT
  FOUND.  Reason given by package:

  The following imported targets are referenced, but are missing:
  absl::log_flags absl::log absl::check absl::fixed_array absl::strings
  absl::time

解决方式：

sudo gedit /usr/local/lib/cmake/Ceres/CeresConfig.cmake，打开对应文件：

将set(Ceres_FOUND FALSE)与set(CERES_FOUND FALSE)中的FALSE均改为TRUE

随后在功能包的CMakeLists.txt中加入：

set(ABSEIL_DIR "home/jwb/ThirdParty/ceres-solver/third_party/abseil-cpp" CACHE PATH "Path to Abseil libraries") # (abseil在ceres库中安装位置)
find_package(absl REQUIRED HINITS ${ABSEIL_DIR})

3.4）在本人第四次编译中遇到如下报错：

 /usr/bin/ld: 找不到 -lfmt
collect2: error: ld returned 1 exit status

解决方式：

先到https://fmt.dev/8.1.1/index.html下载8.1.1版，注意不要git也不要下最新版，都会报错。

cd fmt-8.1.1
mkdir build
cd build
cmake ..
make
sudo make install

4.上述是本人在编译过程中遇到的所有报错情况。

感谢该篇博客。相机、激光雷达联合标定direct_visual_lidar_calibration教程_雷达相机联合标定-CSDN博客