calibration_toolkit，雷达相机标定工具安装

1、安装nlopt

系统18.04

编译标定工具箱依赖于nlopt，需要先行安装，安装教程参考：https://github.com/stevengj/nlopt

报错：/usr/local/include/nlopt.hpp:562:对‘nlopt_get_errmsg’未定义的引用

属于重复安装，执行：

sudo apt remove libnlopt-dev
2、安装标定工具箱

标定工具箱安装教程参考：https://github.com/XidianLemon/calibration_camera_lidar，把工程克隆到自己本地工程的src目录下编译即可

更改以下：

一、缺包：

sudo apt-get install ros-melodic-jsk-recognition-msgs

sudo apt-get install freeglut3-dev
二、scan_window.cpp加入#include "scan_window.h"

三、scan_window.cpp与camera_lidar2d_offline_calib.cpp中CV-RGB改为cvScalar

四、camera_lidar2d_offline_calib.cpp中

// *m_intrinsic = m_intrinsic_opencv2to1;
// *m_dist = m_dist_opencv2to1;

改为

*m_intrinsic = cvMat(m_intrinsic_opencv2to1);
*m_dist = cvMat(m_dist_opencv2to1);

五、camera_lidar2d_offline_calib.cpp中

IplImage temp = cv_image->image;

改为IplImage temp = cvIplImage(cv_image->image);

六、/calibration_camera_lidar-master/ls_calibration/calibration_camera_lidar下的CMakeLists.txt中

find_package(OpenCV 3.2.0 REQUIRED)

("{ROS_VERSION}" MATCHES “(indigo|jade|kinetic|melodic)”)

target_link_libraries(calibration_publisher
${catkin_LIBRARIES}
${OpenCV_LIBS} #add
)

3、运行

rosrun calibration_camera_lidar calibration_toolkit

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