Ubuntu20.04+Ros noetic+OpenCV4+Python3 安装Kalibr

在Ubuntu20.04上安装kalibr的时候一直报错，大部分错误跟着网上的解决方法都能解决，到最后剩下一个错误怎么都解决不了。CMake Error at /home/alex/work/Camera/kalibr_ws/src/kalibr/Schweizer-Messer/python_module/cmake/add_python_export_library.cmake:135 (get_property):
  The LOCATION property may not be read from target "numpy_eigen".  Use the
  target name directly with add_custom_command, or use the generator
  expression $<TARGET_FILE>, as appropriate. ...,完整报错如下：

Errors     << numpy_eigen:cmake /home/alex/work/Camera/kalibr_ws/logs/numpy_eigen/build.cmake.001.log
CMake Error at /home/alex/work/Camera/kalibr_ws/src/kalibr/Schweizer-Messer/python_module/cmake/add_python_export_library.cmake:135 (get_property):
  The LOCATION property may not be read from target "numpy_eigen".  Use the
  target name directly with add_custom_command, or use the generator
  expression $<TARGET_FILE>, as appropriate.

Call Stack (most recent call first):
  CMakeLists.txt:54 (add_python_export_library)


CMake Error at /home/alex/work/Camera/kalibr_ws/src/kalibr/Schweizer-Messer/python_module/cmake/add_python_export_library.cmake:136 (get_filename_component):
  get_filename_component called with incorrect number of arguments
Call Stack (most recent call first):
  CMakeLists.txt:54 (add_python_export_library)


CMake Error at /home/alex/work/Camera/kalibr_ws/src/kalibr/Schweizer-Messer/python_module/cmake/add_python_export_library.cmake:135 (get_property):
  The LOCATION property may not be read from target "numpy_eigen".  Use the
  target name directly with add_custom_command, or use the generator
  expression $<TARGET_FILE>, as appropriate.

Call Stack (most recent call first):
  CMakeLists.txt:62 (add_python_export_library)


CMake Error at /home/alex/work/Camera/kalibr_ws/src/kalibr/Schweizer-Messer/python_module/cmake/add_python_export_library.cmake:136 (get_filename_component):
  get_filename_component called with incorrect number of arguments
Call Stack (most recent call first):
  CMakeLists.txt:62 (add_python_export_library)

最后发现是python版本的问题，kalibr是在Ubuntu18.04上开发的，依赖的也是python2.7，所以在Ubuntu20.04上安装Installation · ethz-asl/kalibr Wiki · GitHub这个链接下kalibr就会疯狂出错。在Pull requests中的issue515可以找到支持python3的kalibr。也可以自己安装python2.7,但是我没有安装，所以也不知道行不行。

1.安装依赖

sudo apt-get install -y python3-dev python3-pip python3-scipy python3-matplotlib ipython3 python3-wxgtk4.0 python3-tk python3-igraph

sudo apt-get install python3-setuptools python3-rosinstall ipython3 libeigen3-dev libboost-all-dev doxygen libopencv-dev ros-noetic-vision-opencv ros-noetic-image-transport-plugins ros-noetic-cmake-modules python3-software-properties software-properties-common libpoco-dev python3-matplotlib python3-scipy python3-git python3-pip ipython3 libtbb-dev libblas-dev liblapack-dev python3-catkin-tools libv4l-dev

sudo apt-get install python3-catkin-tools python3-osrf-pycommon

pip3 install wxPython

2.下载编译

source /opt/ros/noetic/setup.bash
catkin init
catkin config --extend /opt/ros/noetic
catkin config --merge-devel # Necessary for catkin_tools >= 0.4.
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
 
catkin build -DCMAKE_BUILD_TYPE=Release -j4

报错：找不到Eigen库

  Could not find a package configuration file provided by "Eigen3" with any
  of the following names:

    Eigen3Config.cmake
    eigen3-config.cmake

解决方法：将 FindEigen3.cmake的位置链接过去，即在CmakeLists.txt里添加

set(CMAKE_MODULE_PATH "FindEigen3.cmake的位置")
//例如：set(CMAKE_MODULE_PATH "/opt/ros/noetic/share/cmake_modules/cmake/Modules")

然后再build（终端输入：catkin build -DCMAKE_BUILD_TYPE=Release -j4），顺利编译。

3.使用Kalibr

source ~/kalibr_workspace/devel/setup.bash
rosrun kalibr kalibr_calibrate_cameras \
--target ./april_6x6_80x80cm.yaml \
--bag ./res.bag \
--models pinhole-radtan pinhole-radtan pinhole-radtan \
--topics /color /infra_left /infra_right \
--bag-from-to 3 202 \
--show-extraction \
--approx-sync 0.04

参数解释：

• --target ./april_6x6_80x80cm.yaml 是标定板的配置文件，注意如果选择棋格盘，注意targetCols和targetRows表示的是内侧角点的数量，不是格子数量。https://github.com/ori-drs/kalibr

• --bag ./res.bag 是录制的数据包

• --models pinhole-radtan pinhole-radtan pinhole-radtan 表示三个摄像头的相机模型和畸变模型（解释参考https://github.com/ethz-asl/kalibr/wiki/supported-models，根据需要选取）

• --topics /color /infra_left /infra_right 表示三个摄像头对应的拍摄的数据话题

• --bag-from-to 3 202表示处理bag中3-202秒的数据。（控制时长）

• --show-extraction表示显示检测特征点的过程，这些参数可以相应的调整。

可以使用rosbag info 来参看录制的包的信息。eg：rosbag info res.bag

notice：

--topics /color /infra_left /infra_right 表示三个摄像头对应的拍摄的数据话题，他们的顺序对标定结果是有影响的。yaml文件里生成的是以第一个话题为主体，其他两个话题相对于它的变换矩阵。