SVO相机标定环境配置相关问题

报错：
terminate called after throwing an instance of ‘std::runtime_error’
what(): Frame: provided image has not the same size as the camera model or image is not grayscale

解决：
经过调试发现是这句的问题：

vo_->addImage(img, msg->header.stamp.toSec());

调用FrameHandlerMono：：addImage函数（定义在frame_handler_mono.cpp中）

   其中，msg->header.stamp.toSec()可获取系统时间（以秒为单位）

   获取的图片img和转换的系统时间被传入函数addImage，addImage过程：

可是我刚刚把格式从mono改成了rgb格式，现在又要用这个函数。。。咋办
frame_handler_mono.cpp中：new_frame_.reset(new Frame(cam_, img.clone(), timestamp));
这句有问题。

先看报的错 第一种可能：provided image has not the same size as the camera model
提供的图像和camera的模型不一样。
https://github.com/uzh-rpg/rpg_svo/wiki/Camera-Calibration
http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration
相机标定
使用第2个模型
rosdep报错：

// rosdep报错
rosdep install camera_calibration

ERROR: Rosdep cannot find all required resources to answer your query
Missing resource camera_calibration
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/mxy/leishen_ws/src
ROS path [2]=/opt/ros/melodic/share

是因为我没有安装camera_calibration。安完了又显示
Could not find a package configuration file provided by “image_geometry”
再安image_geometry
又提示没有stereo-msgs

sudo apt-get install ros-melodic-stereo-msgs

// 新的报错
CMake Error at /usr/share/cmake-3.10/Modules/FindBoost.cmake:1947 (message):
  Unable to find the requested Boost libraries.

  Boost version: 1.65.1

  Boost include path: /usr/include

  Could not find the following Boost libraries:

          boost_python37

  No Boost libraries were found.  You may need to set BOOST_LIBRARYDIR to the
  directory containing Boost libraries or BOOST_ROOT to the location of
  Boost.

发现自己没有python3.7，于是又安装python3.7(参考：https://blog.csdn.net/qq_25863199/article/details/91125794)，切换python版本：

//查看当前版本
$ python --version

是Python 2.7.17

//切换python版本
sudo update-alternatives --config python

结果还是python3.6
继续解决问题：

$ sudo apt-get install python3.7
$ sudo update-alternatives --install /usr/bin/python python /usr/bin/python3.7 2
$ sudo update-alternatives --config python
$ python --version
Python 3.7.5！！耶

but！！！！！catkin_make需要的环境是python2.7…
所以，我先把环境变量改成python3.7后，再安装Boost,然后在切换2.7，再编译试试
不行。（最后参考软链接：https://blog.csdn.net/qq_42138662/article/details/105677869）

sudo ln -s libboost_python-py36.so libboost_python37.so
sudo ln -s libboost_python-py36.a libboost_python37.a
```成功。现在依赖的问题解决了，开始程序上报错了
CV_INTER_LINEAR' was not declared in this scope。解决方法 ： cv::INTER_LINEAR 替换 CV_INTER_LINEAR
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