SLAM之路－kalibr编译安装终极解决方案

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  kalibr编译安装看似简单，实则凶险万分，稍不留神，耗进去个把礼拜轻轻松松，经过千难万险，现将流程记录下如：

  前提条件：已正确安装ubuntu 18.04,ros melodic

（一）、第一版

  1、安装依赖

sudo apt-get install python-setuptools python-rosinstall ipython libeigen3-dev libboost-all-dev doxygen libopencv-dev ros-melodic-vision-opencv ros-melodic-image-transport-plugins ros-melodic-cmake-modules python-software-properties software-properties-common libpoco-dev python-matplotlib python-scipy python-git python-pip ipython libtbb-dev libblas-dev liblapack-dev python-catkin-tools libv4l-dev

  2、安装python-igraph

    sudo pip install python-igraph --upgrade
    本步骤如果不成功，则可以直接安装：
    sudo apt-get install python-igraph

  3、设置工作空间

    mkdir -p ~/kalibr_workspace/src
    cd ~/kalibr_workspace
    source /opt/ros/melodic/setup.bash
    catkin init
    catkin config --extend /opt/ros/melodic
    catkin config --merge-devel # Necessary for catkin_tools >= 0.4.
    catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release

  4、克隆Kalibr工程

    cd ~/kalibr_workspace/src
    git clone https://github.com/ethz-asl/Kalibr.git

  5、修改文件
  打开 src/Kalibr/aslam_cv/aslam_imgproc/include/aslam/implementation/aslamcv_helper.hpp 文件
  将所有的 “CvSize” 改为 “cv::Size”，共3处。

  6、编译与排错
  
  使用如下命令进行编译：
  cd ~/kalibr_workspace
  catkin build -DCMAKE_BUILD_TYPE=Release -j4

  7、编译成功后，恢复工作空间
  
  source ~/kalibr_workspace/devel/setup.bash

  如果第一版安装解决不了问题，请看第二版

（二）、第二版

  1、安装依赖

sudo apt-get install python-setuptools python-rosinstall ipython libeigen3-dev libboost-all-dev doxygen libopencv-dev ros-melodic-vision-opencv ros-melodic-image-transport-plugins ros-melodic-cmake-modules python-software-properties software-properties-common libpoco-dev python-matplotlib python-scipy python-git python-pip ipython libtbb-dev libblas-dev liblapack-dev python-catkin-tools libv4l-dev

  2、安装python-igraph

    sudo pip install python-igraph --upgrade
    本步骤如果不成功，则可以直接安装：
    sudo apt-get install python-igraph

  3、设置工作空间

    mkdir -p ~/kalibr_workspace/src
    cd ~/kalibr_workspace
    source /opt/ros/melodic/setup.bash
    catkin init
    catkin config --extend /opt/ros/melodic
    catkin config --merge-devel # Necessary for catkin_tools >= 0.4.
    catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release

  4、克隆Kalibr工程

    cd ~/kalibr_workspace/src
    git clone https://github.com/ethz-asl/Kalibr.git

  5、替换Kalibr使用的Opencv与Catkin文件
  
  （1）进到Kalibr文件夹中，删除opencv2_catkin和catkin_simple文件夹

            cd ~/kalibr_workspace/src/Kalibr
            rm -r opencv2_catkin
            rm -r catkin_simple

   (2)重新下载opencv2_catkin和catkini_simple文件

          opencv2_catkin下载地址：https://github.com/ethz-asl/opencv2_catkin
          catkini_simple下载地址：https://github.com/catkin/catkin_simple

  
   可以直接克隆到Kalibr文件夹下（总之，将opencv2_catkin和catkin_simple这两个文件夹放到Kalibr文件夹下）

  6、编译与排错
  
  使用如下命令进行编译：

       cd ~/kalibr_workspace
       catkin build -DCMAKE_BUILD_TYPE=Release -j4

  
   错误1：

CMake Error at cmake/OpenCVDetectCXXCompiler.cmake:89 (math):
math cannot parse the expression: "*100 + ": syntax error, unexpected
exp_TIMES, expecting exp_PLUS or exp_MINUS or exp_OPENPARENT or exp_NUMBER(1)
  
解放方案：
原OpenCVDetectCXXCompiler.cmake文件有错误，该文件所在路径：
kalibr_workspace\build\opencv2_catkin\opencv2_src-prefix\src\opencv2_src\cmake
使用同名文件替换，下载地址：https://pan.baidu.com/s/1Fss8hFIymkkAlS-kAtomZA

   错误2：

modules/contrib/src/chamfermatching.cpp:969:30: error: the compiler can assume that the address of ‘annotate_img’ will never be NULL [-Werror=address]
if (&annotate_img!=NULL) {
^
modules/contrib/src/chamfermatching.cpp:1016:34: error: the compiler can assume that the address of ‘annotate_img’ will never be NULL [-Werror=address]
if (&annotate_img!=NULL) {
  
解决方案：
打开文件：kalibr_workspace/build/opencv2_catkin/opencv2_src-prefix/src/opencv2_src/modules/contrib/CMakeFiles/opencv_contrib.dir/flags.make
(kalibr_workspace/build/opencv2_catkin/opencv2_src-prefix/src/opencv2_src/modules/contrib/CMakeFiles/opencv_contrib.dir/src/flags.make)
删除 -Werror=address，保存

   错误3：

error: ‘CODEC_ID_H264’ was not declared in this scope
‘CODEC_FLAG_GLOBAL_HEADER’ was not declared in this scope
  
解决方案：
打开文件：kalibr_workspace/src/Kalibr/opencv2_catkin/CMakeLists.txt
添加 -D WITH_FFMPEG=OFF，保存
  

  最后，再使用catkin build -DCMAKE_BUILD_TYPE=Release -j4 编译

  7、编译成功后，恢复工作空间
  
  source ~/kalibr_workspace/devel/setup.bash

小秘密
在clone github.com上的开源文件时，添加cnpmjs.org会大大加速进程，如：
git clone https://github.com.cnpmjs.org/ethz-asl/Kalibr.git