前言
系统环境是Ubuntu 16.04,每完成一大步,将会把系统的完整镜像(VM Ware导出的虚拟机)发布到Github与Gitee,供使用。因为安装环境,本身是很耗费时间的,安装过程亦参考了网上很多的文章,踩了很多的坑,本系列旨在填坑,让后来人可以集中精力做实际的开发、学习。
每步会有步骤说明,命令的输出如果太多,就省略不再贴出来。
使用的设备是 Livox Horizon + 大华(Dahua) DH-IPC-HFW2433M-LED
标定工具安装
ningdr@ubuntu:~/soft$ echo ===================第一步===================
ningdr@ubuntu:~/soft$ git clone https://github.com/stevengj/nlopt.git
ningdr@ubuntu:~/soft$ cd nlopt
ningdr@ubuntu:~/soft/nlopt$ mkdir build && cd build && cmake .. && make && sudo make install
ningdr@ubuntu:~/soft/nlopt$ sudo vim /etc/ld.so.conf.d/libnlopt.conf
# 填入如下内容
===============file content=================
/usr/local/lib
===============file content=================
ningdr@ubuntu:~/soft/nlopt$ sudo ldconfig
ningdr@ubuntu:~/soft$ echo ===================第二步===================
ningdr@ubuntu:~/soft/nlopt$ cd ~/soft
ningdr@ubuntu:~/soft$ mkdir -p catkin_ws/src
ningdr@ubuntu:~/soft$ cd catkin_ws/src
ningdr@ubuntu:~/soft/catkin_ws/src$ git clone https://github.com/XidianLemon/calibration_camera_lidar.git
ningdr@ubuntu:~/soft$ echo ===================第三步===================
ningdr@ubuntu:~/soft/catkin_ws/src$ cd ~/soft/catkin_ws
ningdr@ubuntu:~/soft/catkin_ws$ catkin_make
ningdr@ubuntu:~/soft/catkin_ws$ echo "source /home/ningdr/soft/catkin_ws/devel/setup.bash" >> ~/.bashrc
ningdr@ubuntu:~/soft/catkin_ws$ source ~/.bashrc
ningdr@ubuntu:~/soft$ echo ===================第四步===================
ningdr@ubuntu:~/soft$ roscore
# 打开另一个 terminal
ningdr@ubuntu:~/soft$ rosrun calibration_camera_lidar calibration_toolkit
安装成功