Kalibr安装失败记录

最新推荐文章于 2024-05-28 10:24:59 发布

卧寺小柏

最新推荐文章于 2024-05-28 10:24:59 发布

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分类专栏：笔记文章标签： ubuntu c++

本文链接：https://blog.csdn.net/qq_45703270/article/details/121275368

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Kalibr安装成功记录

Ubuntu18.04+opencv3.4.2+eigen3.3.9安装Kalibr失败
- 成功案例
==成功了！将Eigen版本换成3.3.4就可以了Ubuntu18.04+opencv3.4.2+eigen3.3.4安装Kalibr成功==

Ubuntu18.04+opencv3.4.2+eigen3.3.9安装Kalibr失败

想使用Kalibr标定相机内参，但是忙活了一天也没有安装好，猜测是可能动了某个地方的东西导致安装不成功，或者是由于eigen或者opencv版本的问题，但是我已经安装了太多的东西，更换版本之后可会出现其他问题，导致其他程序出现问题，所以将解决问题的过程记录下来，方便以后找到， 虽然这次没有解决我的问题，但是说不定能解决下次的问题 。

成功案例

Ubuntu18.04+opencv3.4.5+eigen3.3.4安装Kalibr是没有出现安装问题的，安装过程比较顺利，没在我电脑上实现。
安装教程参考官方教程就可以了。

成功了！将Eigen版本换成3.3.4就可以了Ubuntu18.04+opencv3.4.2+eigen3.3.4安装Kalibr成功

出现的错误就是:失败BUG1，更换Eigen版本为3.3.4，按照官方教程重新安装，即可成功。

一、失败BUG1

/usr/local/include/boost/python/detail/destroy.hpp:20:9: error: ‘Eigen::MatrixBase<Derived>::~MatrixBase() [with Derived = Eigen::Matrix<double, -1, 1>]’ is protected within this context
         p->~T();

Failed     << aslam_cv_python:make

kalibr中一个模块aslam_cv_python 编译失败
参考博客[视觉惯性导航系列]相机标定工具–kalibr

版权声明：本文为博主原创文章，遵循 CC 4.0 BY-SA 版权协议，转载请附上原文出处链接和本声明。
本文链接：https://blog.csdn.net/WYB_2018/article/details/118275040
————————————————

得到的解决方法——kalibr应该使用opencv 2.4版本进行联合编译

二、失败BUG2

安装Opencv2的时候，因为不想卸载Opencv3所以采用了新建工作空间的方法，
参考博客Ubuntu16.04_ROS_kinetic下如何使用OpenCV2.4进行编译

版权声明：本文为博主原创文章，遵循 CC 4.0 BY-SA 版权协议，转载请附上原文出处链接和本声明。
本文链接：https://blog.csdn.net/Ferrari_hong/article/details/82292106
————————————————

三、失败BUG3

遇到错误：

chamfermatching.cpp:969:30: error: the compiler can assume that the address of ‘annotate_img’

解决办法：
修改 ./build/modules/contrib/CMakeFiles/opencv_contrib.dir/flags.make文件：删掉-Werror=address，然后重新make

四、失败BUG4

遇到错误：

In file included from /home/kunb/slam_code/opencv-2.4.9/modules/highgui/src/cap_ffmpeg_impl.hpp:60:0,
                 from /home/kunb/slam_code/opencv-2.4.9/modules/highgui/src/cap_ffmpeg.cpp:45:
/home/kunb/slam_code/opencv-2.4.9/modules/highgui/src/ffmpeg_codecs.hpp:104:7: error: ‘CODEC_ID_H264’ was not declared in this scope
     { CODEC_ID_H264, MKTAG('H', '2', '6', '4') },
       ^~~~~~~~~~~~~
/home/kunb/slam_code/opencv-2.4.9/modules/highgui/src/ffmpeg_codecs.hpp:105:7: error: ‘CODEC_ID_H264’ was not declared in this scope
     { CODEC_ID_H264, MKTAG('h', '2', '6', '4') },
       ^~~~~~~~~~~~~
/home/kunb/slam_code/opencv-2.4.9/modules/highgui/src/ffmpeg_codecs.hpp:106:7: error: ‘CODEC_ID_H264’ was not declared in this scope
     { CODEC_ID_H264, MKTAG('X', '2', '6', '4') },

解决办法：
CMAKE直接关闭ffmpeg，在CMakeiststs.txt中添加一行-DWITH_FFMPEG=OFF

 -D WITH_FFMPEG=OFF

关闭此项不会对提取视频文件产生影响，具体见https://github.com/opencv/opencv/pull/4107
参考博客： Ubuntu18.04安装Kalibr各种问题总结.
添加位置如下：
在这里插入图片描述

五、失败BUG5

遇到错误：

CMake Error at cmake/OpenCVDetectCXXCompiler.cmake:85 (list):
  list GET given empty list
Call Stack (most recent call first):
  CMakeLists.txt:77 (include)


CMake Error at cmake/OpenCVDetectCXXCompiler.cmake:86 (list):
  list GET given empty list
Call Stack (most recent call first):
  CMakeLists.txt:77 (include)


CMake Error at cmake/OpenCVDetectCXXCompiler.cmake:89 (math):
  math cannot parse the expression: "*100 + ": syntax error, unexpected
  exp_TIMES, expecting exp_PLUS or exp_MINUS or exp_OPENPARENT or exp_NUMBER
  (1)
Call Stack (most recent call first):
  CMakeLists.txt:77 (include)

原因：Ubuntu 18.4不支持opencv-2.3.10自带的OpenCVDetectCXXCompiler.cmake
解决方法：
将OpenCVDetectCXXCompiler.cmake的内容替换为如下：

# ----------------------------------------------------------------------------
# Detect Microsoft compiler:
# ----------------------------------------------------------------------------
if(CMAKE_CL_64)
    set(MSVC64 1)
endif()

if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
  set(CMAKE_COMPILER_IS_GNUCXX 1)
  set(CMAKE_COMPILER_IS_CLANGCXX 1)
endif()
if(CMAKE_C_COMPILER_ID STREQUAL "Clang")
  set(CMAKE_COMPILER_IS_GNUCC 1)
  set(CMAKE_COMPILER_IS_CLANGCC 1)
endif()
if("${CMAKE_CXX_COMPILER};${CMAKE_C_COMPILER}" MATCHES "ccache")
  set(CMAKE_COMPILER_IS_CCACHE 1)
endif()

# ----------------------------------------------------------------------------
# Detect Intel ICC compiler -- for -fPIC in 3rdparty ( UNIX ONLY ):
#  see  include/opencv/cxtypes.h file for related   ICC & CV_ICC defines.
# NOTE: The system needs to determine if the '-fPIC' option needs to be added
#  for the 3rdparty static libs being compiled.  The CMakeLists.txt files
#  in 3rdparty use the CV_ICC definition being set here to determine if
#  the -fPIC flag should be used.
# ----------------------------------------------------------------------------
if(UNIX)
  if  (__ICL)
    set(CV_ICC   __ICL)
  elseif(__ICC)
    set(CV_ICC   __ICC)
  elseif(__ECL)
    set(CV_ICC   __ECL)
  elseif(__ECC)
    set(CV_ICC   __ECC)
  elseif(__INTEL_COMPILER)
    set(CV_ICC   __INTEL_COMPILER)
  elseif(CMAKE_C_COMPILER MATCHES "icc")
    set(CV_ICC   icc_matches_c_compiler)
  endif()
endif()

if(MSVC AND CMAKE_C_COMPILER MATCHES "icc|icl")
  set(CV_ICC   __INTEL_COMPILER_FOR_WINDOWS)
endif()

# ----------------------------------------------------------------------------
# Detect GNU version:
# ----------------------------------------------------------------------------
if(CMAKE_COMPILER_IS_CLANGCXX)
  set(CMAKE_GCC_REGEX_VERSION "4.2.1")
  set(CMAKE_OPENCV_GCC_VERSION_MAJOR 4)
  set(CMAKE_OPENCV_GCC_VERSION_MINOR 2)
  set(CMAKE_OPENCV_GCC_VERSION 42)
  set(CMAKE_OPENCV_GCC_VERSION_NUM 402)

  execute_process(COMMAND ${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} -v
                  ERROR_VARIABLE CMAKE_OPENCV_CLANG_VERSION_FULL
                  ERROR_STRIP_TRAILING_WHITESPACE)

  string(REGEX MATCH "version.*$" CMAKE_OPENCV_CLANG_VERSION_FULL "${CMAKE_OPENCV_CLANG_VERSION_FULL}")
  string(REGEX MATCH "[0-9]+\\.[0-9]+" CMAKE_CLANG_REGEX_VERSION "${CMAKE_OPENCV_CLANG_VERSION_FULL}")

elseif(CMAKE_COMPILER_IS_GNUCXX)
  execute_process(COMMAND ${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} -dumpversion
                OUTPUT_VARIABLE CMAKE_OPENCV_GCC_VERSION_FULL
                OUTPUT_STRIP_TRAILING_WHITESPACE)

  execute_process(COMMAND ${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} -v
                ERROR_VARIABLE CMAKE_OPENCV_GCC_INFO_FULL
                OUTPUT_STRIP_TRAILING_WHITESPACE)

  # Typical output in CMAKE_OPENCV_GCC_VERSION_FULL: "c+//0 (whatever) 4.2.3 (...)"
  # Look for the version number, major.minor.build
  string(REGEX MATCH "[0-9]+\\.[0-9]+\\.[0-9]+" CMAKE_GCC_REGEX_VERSION "${CMAKE_OPENCV_GCC_VERSION_FULL}")
  if(NOT CMAKE_GCC_REGEX_VERSION)#major.minor
    string(REGEX MATCH "[0-9]+\\.[0-9]+" CMAKE_GCC_REGEX_VERSION "${CMAKE_OPENCV_GCC_VERSION_FULL}")
  endif()

  if(CMAKE_GCC_REGEX_VERSION)
    # Split the parts:
    string(REGEX MATCHALL "[0-9]+" CMAKE_OPENCV_GCC_VERSIONS "${CMAKE_GCC_REGEX_VERSION}")

    list(GET CMAKE_OPENCV_GCC_VERSIONS 0 CMAKE_OPENCV_GCC_VERSION_MAJOR)
    list(GET CMAKE_OPENCV_GCC_VERSIONS 1 CMAKE_OPENCV_GCC_VERSION_MINOR)
  else()#compiler returned just the major version number
    string(REGEX MATCH "[0-9]+" CMAKE_GCC_REGEX_VERSION "${CMAKE_OPENCV_GCC_VERSION_FULL}")
    if(NOT CMAKE_GCC_REGEX_VERSION)#compiler did not return anything reasonable
      set(CMAKE_GCC_REGEX_VERSION "0")
      message(WARNING "GCC version not detected!")
    endif()
    set(CMAKE_OPENCV_GCC_VERSION_MAJOR ${CMAKE_GCC_REGEX_VERSION})
    set(CMAKE_OPENCV_GCC_VERSION_MINOR 0)
  endif()

  set(CMAKE_OPENCV_GCC_VERSION ${CMAKE_OPENCV_GCC_VERSION_MAJOR}${CMAKE_OPENCV_GCC_VERSION_MINOR})
  math(EXPR CMAKE_OPENCV_GCC_VERSION_NUM "${CMAKE_OPENCV_GCC_VERSION_MAJOR}*100 + ${CMAKE_OPENCV_GCC_VERSION_MINOR}")
  message(STATUS "Detected version of GNU GCC: ${CMAKE_OPENCV_GCC_VERSION} (${CMAKE_OPENCV_GCC_VERSION_NUM})")

  if(WIN32)
    execute_process(COMMAND ${CMAKE_CXX_COMPILER} -dumpmachine
              OUTPUT_VARIABLE OPENCV_GCC_TARGET_MACHINE
              OUTPUT_STRIP_TRAILING_WHITESPACE)
    if(OPENCV_GCC_TARGET_MACHINE MATCHES "amd64|x86_64|AMD64")
      set(MINGW64 1)
    endif()
  endif()
endif()

if(MSVC64 OR MINGW64)
  set(X86_64 1)
elseif(MINGW OR (MSVC AND NOT CMAKE_CROSSCOMPILING))
  set(X86 1)
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "amd64.*|x86_64.*|AMD64.*")
  set(X86_64 1)
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "i686.*|i386.*|x86.*|amd64.*|AMD64.*")
  set(X86 1)
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "^(arm.*|ARM.*)")
  set(ARM 1)
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64.*|AARCH64.*)")
  set(AARCH64 1)
endif()

# Workaround for 32-bit operating systems on 64-bit x86_64 processor
if(X86_64 AND CMAKE_SIZEOF_VOID_P EQUAL 4 AND NOT FORCE_X86_64)
  message(STATUS "sizeof(void) = 4 on x86 / x86_64 processor. Assume 32-bit compilation mode (X86=1)")
  unset(X86_64)
  set(X86 1)
endif()

# Similar code exists in OpenCVConfig.cmake
if(NOT DEFINED OpenCV_STATIC)
  # look for global setting
  if(NOT DEFINED BUILD_SHARED_LIBS OR BUILD_SHARED_LIBS)
    set(OpenCV_STATIC OFF)
  else()
    set(OpenCV_STATIC ON)
  endif()
endif()

if(MSVC)
  if(CMAKE_CL_64)
    set(OpenCV_ARCH x64)
  elseif((CMAKE_GENERATOR MATCHES "ARM") OR ("${arch_hint}" STREQUAL "ARM") OR (CMAKE_VS_EFFECTIVE_PLATFORMS MATCHES "ARM|arm"))
    # see Modules/CmakeGenericSystem.cmake
    set(OpenCV_ARCH ARM)
  else()
    set(OpenCV_ARCH x86)
  endif()
  if(MSVC_VERSION EQUAL 1400)
    set(OpenCV_RUNTIME vc8)
  elseif(MSVC_VERSION EQUAL 1500)
    set(OpenCV_RUNTIME vc9)
  elseif(MSVC_VERSION EQUAL 1600)
    set(OpenCV_RUNTIME vc10)
  elseif(MSVC_VERSION EQUAL 1700)
    set(OpenCV_RUNTIME vc11)
  elseif(MSVC_VERSION EQUAL 1800)
    set(OpenCV_RUNTIME vc12)
  elseif(MSVC_VERSION EQUAL 1900)
    set(OpenCV_RUNTIME vc14)
  elseif(MSVC_VERSION EQUAL 1910)
    set(OpenCV_RUNTIME vc15)
  endif()
elseif(MINGW)
  set(OpenCV_RUNTIME mingw)

  if(MINGW64)
    set(OpenCV_ARCH x64)
  else()
    set(OpenCV_ARCH x86)
  endif()
endif()

参考博客： CMake Error at cmake/OpenCVDetectCXXCompiler.cmake:85 (list).

版权声明：本文为博主原创文章，遵循 CC 4.0 BY-SA 版权协议，转载请附上原文出处链接和本声明。
本文链接：https://blog.csdn.net/u010003609/article/details/100086911
————————————————

卧寺小柏

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Kalibr安装失败记录

Kalibr安装失败记录Ubuntu18.04+opencv3.4.2+eigen3.3.9安装Kalibr失败成功案例一、失败BUG1二、失败BUG2三、失败BUG3四、失败BUG4五、失败BUG5Ubuntu18.04+opencv3.4.2+eigen3.3.9安装Kalibr失败想使用Kalibr标定相机内参，但是忙活了一天也没有安装好，猜测是可能动了某个地方的东西导致安装不成功，或者是由于eigen或者opencv版本的问题，但是我已经安装了太多的东西，更换版本之后可会出现其他问题，导致其他程
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