ubuntu安装lidar_align时编译出错，激光雷达与IMU标定

1、下载lidar_align

ethz-asl/lidar_align: A simple method for finding the extrinsic calibration between a 3D lidar and a 6-dof pose sensor (github.com)https://github.com/ethz-asl/lidar_align2、安装编译

sudo apt-get install libnlopt-dev
cd lidar_align-master
mkdir build
cd build
cmake .. && make -j4

此时可能会出现以下问题：

问题1：

 CNake Error at /usr /share/cnake-3.10/Nodules/FindPackageHandlestandardArgs.cmake:137 (nessage);could NOT find NLOPT (missing: NLOPT_INCLUDE_DIR NLOPT_LIBRARY)
Call stack (most recent call first):
/usr/share/cnake-3.10/NModules/FindPackageHandleStandardArgs.cnake:378(_FPHSA_FAILURENLOPTConfig.cmake:65 (find_package_handle_standard_args)
CMakeLists.txt: 18 (find_package)
-- Configuring incomplete, errors occurred!
see also "/home/findlab/lidar_align-naster/build /CMakeFiles/CNakeoutput.log".See also "/hone /findlab/lidar_align-naster/build/CMakeFiles/CNakeError.log".

 解决方法：

在lidar_align-master文件夹中的CMakeLists.txt添加以下代码：

list(APPEND CMAKE_FIND_ROOT_PATH ${PROJECT_SOURCE_DIR})
set (CMAKE_PREFIX_PATH "/usr/local/lib/cmake/nlopt")

 

问题2：

/usr/include/flann/ext/lz4.h:196:57: error: conflicting declaration 'typedef struct LZ4_ strean_t LZ4_ strean_t'typedef struct { long long table[LZ4_STREANSIZE_U64];} LZ4_strean_t;

解决办法：

在终端中执行以下命令

sudo mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.bak
sudo mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.h.bak
sudo ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.h
sudo ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.h

 

问题3 ：

/usr/include/pcl-1.10/pcl/point_types.h:525:1: error: ‘minusscalar’ is not a member of ‘pcl::traits’
  525 | POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::_PointWithViewpoint,
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

 

 解决办法：

在lidar_align-master文件中的CMakeLists.txt里增加以下代码：

set(CMAKE_CXX_STANDARD 14)

 问题4：

In file included from /home/hzw/lidar_align-master/src/aligner.cpp:1:
/home/hzw/lidar_align-master/include/lidar_align/aligner.h:7:10: fatal error: nlopt.hpp: 没有那个文件或目录
    7 | #include <nlopt.hpp>
      |          ^~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/lidar_align.dir/build.make:76：CMakeFiles/lidar_align.dir/src/aligner.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:1165：CMakeFiles/lidar_align.dir/all] 错误 2
make: *** [Makefile:141：all] 错误 2

解决办法：

安装nlopt

git clone https://github.com/stevengj/nlopt
cd nlopt
mkdir build
cd build
cmake .. && make -j4
sudo make install

 最终编译成功