Ubuntu18编译Kalibr报错总结

opencv-3.4.13的版本过新，编译Kalibr过程会遇到报错，总结如下：

报错1：sudo pip install python-igraph --upgrade失败

解决办法：

sudo apt-get install python-igraph

报错2：

Could not find a package configuration file provided by “code_utils” with
any of the following names:
code_utilsConfig.cmake
code_utils-config.cmake```

解决办法：

step1：

cd kalibr_ws
source /opt/ros/melodic/setup.bash
catkin init
catkin config --extend /opt/ros/melodic
catkin config --merge-devel # Necessary for catkin_tools >= 0.4. catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release

step2:

解决方法

step3:

catkin build -DCMAKE_BUILD_TYPE=Release -j4

报错3：catkin build -DCMAKE_BUILD_TYPE=Release -j4 编译过程中出现的错误

3-1 报错：

 error: ‘CV_GRAY2RGB’ was not declared in this scope
     cv::cvtColor(imageCopy1, imageCopy1, CV_GRAY2RGB);
    
 error: ‘CV_TERMCRIT_ITER’ was not declared in this scope
         cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));

error: ‘CV_TERMCRIT_EPS’ was not declared in this scope
         cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));

3-1 解决办法： 对应文件中添加头文件：

#include <opencv2/imgproc/types_c.h>

##############################################################################################################

3-2 cvStartWindowThread()错误：

3-2 改成：

cv::startWindowThread()

3-3 CV_LOAD_IMAGE_UNCHANGED 错误：

3-3 改成

cv::IMREAD_UNCHANGED

3-4 CV_LOAD_IMAGE_GRAYSCALE 错误：

3-4 改成

cv::IMREAD_GRAYSCALE错误：

3-5 CV_LOAD_IMAGE_GRAYSCALE 错误：

3-5 改成

cv::IMREAD_GRAYSCALE

3-6 CV_LOAD_IMAGE_COLOR错误：

3-6 改成

cv::IMREAD_COLOR

3-7 CV_LOAD_IMAGE_ANYDEPTH 错误：

3-7 改成

cv::IMREAD_ANYDEPTH

3-8 CV_MINMAX 错误：

3-8 改成

    NORM_MINMAX

3-9 CV_FONT_HERSHEY_SIMPLEX错误：

3-9 改成

cv::FONT_HERSHEY_SIMPLEX```

3-10 CV_WINDOW_AUTOSIZE错误：

3-10 改成

cv::WINDOW_AUTOSIZE

3-11 报错：error: aggregate ‘std::ofstream out_t’ has incomplete type and cannot be defined std::ofstream out_t;

3-11 解决办法：添加头文件：

#include <fstream>