【 ubuntu20.04+ros1安装autoware标定工具】

一、当前环境

• ubuntu：20.04 LTS
• ROS： Noetic Ninjemys
• PCL： 1.10
  • dpkg -l libpcl-dev #查看pcl版本
• Opencv： 3.4.5
• Qt： 5.12.8 in /usr/lib/x86_64-linux-gnu

二、OPENCV安装

1、安装opencv

链接: ubuntu20.04下多版本opencv共存和切换

2、安装cv_bridge

参考链接：https://zhuanlan.zhihu.com/p/617289094

sudo make installed 

报错： error: option --install-layout not recognized

解决：
cmake ..  -DCMAKE_BUILD_TYPE=Release -DSETUPTOOLS_DEB_LAYOUT=OFF .
make
sudo make installed

参考：<https://blog.csdn.net/qq_17130909/article/details/97933582>

三、安装

1、修改cmakelist文件

(1)undefined reference to `cv::Mat::Mat()’

cmakelist文件路径：
CL_calibration_ws/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar
在 
target_link_libraries(calibration_publisher
${catkin_LIBRARIES} 
后面添加
${OpenCV_LIBS}  #added 

# 注意opencv大小写

(2) Couldn’t find executable named calibration_toolkit below

更改CMakelist里和ros version有关的部分
文件路径：/src/calibration_camera_lidar-master/ls_calibration

MATCHES "(indigo|jade|kinect)"
替换成
MATCHES "(indigo|jade|kinetic|melodic|noetic)"

(3) pcl大片报错

在cmakelist.txt文件中添加
set(CMAKE_CXX_STANDARD 14)

# 具体文件：
CL_calibration_ws/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar
CL_calibration_ws/src/calibration_camera_lidar/ls_calibration/glviewer
CL_calibration_ws/src/calibration_camera_lidar/ls_calibration/rosinterface

(4) 指定opencv版本

在工程cmakelist文件中添加
set(cv_bridge_DIR "/home/chen/下载/opencv3.4.5/vision_opencv-melodic/installed/usr/local/share/cv_bridge/cmake")
Set(OpenCV_DIR "/home/chen/下载/opencv3.4.5/opencv-3.4.5/installed/share/OpenCV") 
Set(OpenCV_INCLUDE_DIRS "/home/chen/下载/opencv3.4.5/opencv-3.4.5/installed/include")
Set(OpenCV_LIBRARIES "/home/chen/下载/opencv3.4.5/opencv-3.4.5/installed")

具体文件为调用了opencv的相关cmakelists文件，添加在查找opencv之前

(5) undefined reference to `std::__exception_ptr::exception_ptr::_M_release()@CXXABI_1.3.13’

原因：anaconda中的qt5与系统中安装的qt5冲突。查找了很多办法，无法完全解决。
一个一次性办法：

在涉及到QT的CMakeLists文件中，在find QT包前添加
SET(CMAKE_PREFIX_PATH "/usr/lib/x86_64-linux-gnu/cmake")

(6) error: ‘CV_RGB’ was not declared in this scope; did you mean ‘CV_YUV2RGB’?

对应.h文件添加头文件：
#include <opencv2/imgproc.hpp>

2、安装流程

一、创建工作空间，
mkdir -p ~/CL_calibration_ws/src

二、下载安装包
cd ~/CL_calibration_ws/src

git clone https://github.com/XidianLemon/calibration_camera_lidar.git

三、编译
cd ~/CL_calibration_ws

catkin_make

source devel/setup.bash

3、安装nlopt

官网：https://github.com/stevengj/nlopt