安装Kalibr，在执行catkin_make时出现错误The following variables are used in this project, but they are set to NO

安装Kalibr 的时候，bagconvert设置的默认路径找不到matlab这样导致安装失败出现以下情况：

CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
MATLAB_ENG_LIBRARY (ADVANCED)
linked by target “bagconvert” in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
linked by target “bagconvert” in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
MATLAB_INCLUDE_DIR (ADVANCED)
used as include directory in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
used as include directory in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
used as include directory in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
used as include directory in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
used as include directory in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
used as include directory in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
used as include directory in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
used as include directory in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
used as include directory in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
used as include directory in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
used as include directory in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
used as include directory in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
used as include directory in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
used as include directory in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
used as include directory in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
used as include directory in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
used as include directory in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
used as include directory in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
used as include directory in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
used as include directory in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
used as include directory in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
used as include directory in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
used as include directory in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
MATLAB_MAT_LIBRARY (ADVANCED)
linked by target “bagconvert” in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
MATLAB_MEX_LIBRARY (ADVANCED)
linked by target “bagconvert” in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
linked by target “bagconvert” in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
MATLAB_MX_LIBRARY (ADVANCED)
linked by target “bagconvert” in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
linked by target “bagconvert” in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert
MATLAB_UT_LIBRARY
linked by target “bagconvert” in directory /home/ubuntu/catkin_ws/src/kalibr_allan-master/bagconvert

– Configuring incomplete, errors occurred!
See also “/home/ubuntu/catkin_ws/build/CMakeFiles/CMakeOutput.log”.
See also “/home/ubuntu/catkin_ws/build/CMakeFiles/CMakeError.log”.
Invoking “cmake” failed

处理办法：

修改~/catkin_ws/src/kalibr_allan-master/bagconvert/cmake目录下的FindMatlab.cmake，
找到  find_program(MATLAB_EXE_PATH matlab　　　这一行，将他修改成
 find_program(MATLAB_EXE_PATH matlab
        PATHS /usr/local/MATLAB/R2017b/bin)
这样可以找到matlab

这里的“/usr/local/MATLAB/R2017b/bin”需要给成你电脑中matlab 的相应位置。之后重新编译，如果之前已经失败过，则删除build文件之后重新编辑即可。