flycarcq problem

1 install ceres
Could not find a package configuration file provided by “Ceres” with any of
the following names:

CeresConfig.cmake
ceres-config.cmake

git clone https://ceres-solver.googlesource.com/ceres-solver

or
git clone https://gitee.com/young4chan/ceres-solver.git 

# CMake
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev libgflags-dev
# BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
# SuiteSparse and CXSparse (optional)
sudo apt-get install libsuitesparse-dev
cd ceres-solver
mkdir build
cd build
cmake ..
make -j4
sudo make install

cmake -D CMAKE_INSTALL_PREFIX="/some/where/local"  ..

此时在 CMakeLists.txt 中使用 find_package(Ceres REQUIRED PATHS "/some/where/local/ ") 才会找到 Ceres 库的头文件、库文件。

cmake ..

此时直接在 CMakeList.txt 文件中写入 find_package(Ceres) 即可找到该库。
2
Project ‘cv_bridge’ specifies ‘/usr/include/opencv’ as an include dir,
which is not found. It does neither exist as an absolute directory nor in
‘${{prefix}}//usr/include/opencv’. Check the issue tracker

sudo gedit /opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake

3 install pcl
Could not find a package configuration file provided by “PCL” (requested
version 1.7) with any of the following names:

PCLConfig.cmake
pcl-config.cmake

安装依赖

sudo apt-get update  
sudo apt-get install git build-essential linux-libc-dev
sudo apt-get install cmake cmake-gui
sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
sudo apt-get install mpi-default-dev openmpi-bin openmpi-common 
sudo apt-get install libflann1.9 libflann-dev
sudo apt-get install libeigen3-dev 这个需要自己下载正确版本安装
sudo apt-get install libboost-all-dev
sudo apt-get install libvtk6.3-qt libvtk6.3 libvtk6-qt-dev
sudo apt-get install libqhull* libgtest-dev
sudo apt-get install freeglut3-dev pkg-config
sudo apt-get install libxmu-dev libxi-dev
sudo apt-get install mono-complete
sudo apt-get install openjdk-8-jdk openjdk-8-jre

在ubuntu18.04中libtk已经从网上说的5.10版本变成了7.10。当然随着时间的退役7.10也会被舍弃，这时我们要用到

sudo apt-cache search libvtk

我们用这行命令去搜索libtk的最新版本。
在ubuntu18.04中qt-sdk已经被舍弃，亲身测试不需要安装。

下载编译
下载就不用说了，这是网址https://github.com/PointCloudLibrary/pcl.git ，可手动下载也可用git下载

git clone https://github.com/PointCloudLibrary/pcl.git 

接下来进行编译

cd pcl 
mkdir release 
cd release
cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr \ -DBUILD_GPU=ON-DBUILD_apps=ON -DBUILD_examples=ON \ -DCMAKE_INSTALL_PREFIX=/usr .. 
make  
sudo make install

4

Specify CUDA_TOOLKIT_ROOT_DIR

直接输入安装cuda10.2

sudo apt-get update
sudo apt-get install cuda-toolkit-10-2

安装CUDA最新的10.2版本。进入Nvidia cuda下载地址：
https://developer.nvidia.com/cuda-downloads

 依次选择对应系统和版本等信息：
 ![在这里插入图片描述](https://img-blog.csdnimg.cn/daac340ebc044791ae1859eeaa370030.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA6aOe5ZCM5a2m,size_20,color_FFFFFF,t_70,g_se,x_16)

我们这里选择的Ubuntu 18.04下的deb安装类型。然后依次执行下述7条命令：

wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu1804/x86_64/cuda-ubuntu1804.pin
sudo mv cuda-ubuntu1804.pin /etc/apt/preferences.d/cuda-repository-pin-600
wget http://developer.download.nvidia.com/compute/cuda/10.2/Prod/local_installers/cuda-repo-ubuntu1804-10-2-local-10.2.89-440.33.01_1.0-1_amd64.deb
sudo dpkg -i cuda-repo-ubuntu1804-10-2-local-10.2.89-440.33.01_1.0-1_amd64.deb
sudo apt-key add /var/cuda-repo-10-2-local-10.2.89-440.33.01/7fa2af80.pub
sudo apt-get update
sudo apt-get -y install cuda

参考网站

 https://mp.weixin.qq.com/s?src=11&timestamp=1646905623&ver=3668&signature=oUmwPWn0fNPVy9AMzR-TLbKFO0sVcNJkePeSz*emi9Ct4EFZecHJBdwEL5FJJsOH8UNbdhjG-NJfzcMMfCNLBbVBHsC-MJcHCN13cGKUmkneR**nLfTPQ*SMuafT80cA&new=1

Ubuntu18.04+CUDA10.2 深度学习开发环境配置指南

5 nlopt
Could not find a package configuration file provided by “NLopt” with any of
the following names:

NLoptConfig.cmake
nlopt-config.cmake

sudo apt install ros-melodic-nlopt

git clone https://gitee.com/parissguo/nlopt.git
cd nlopt
mkdir build
cd build
cmake ..
make
sudo make install

6 install opencv
**下载opencv3.4.2和opencv-contrib-3.4.2
https://gitee.com/mirrors/opencv/tags
https://gitee.com/mirrors/opencv_contrib/tags
解压opencv3.4.0和opencv_contrib3.4.0文件，将后者移动到opencv3.4.0文件夹中;
将opencv3.4.0更名为opencv，opencv_contrib文件更名为opencv_contrib;
在opencv文件中新建文件夹build
opencv文件长这样

/usr/local 是指默认将要 install 的路径

sudo apt-get install build-essential
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff5-dev libdc1394-22-dev
sudo apt-get install libavcodec-dev libavformat-dev libswscale-dev libv4l-dev liblapacke-dev
sudo apt-get install libxvidcore-dev libx264-dev
sudo apt-get install libatlas-base-dev gfortran          
sudo apt-get install ffmpeg

cd opencv

mkdir build

cd build

cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local -D OPENCV_EXTRA_MODULES_PATH=~/opencv/opencv_contrib/modules/ ..
make 
make install 

OPENCV_EXTRA_MODULES_PATH=~/opencv/opencv_contrib/modules/ … 是指 opencv_contrib3.4.0 中 modules所在的路径，后面的两点不可省略

7 install nomechaine

https://www.nomachine.com/download/download&id=112&s=ARM

8opencv2/cudaoptflow.hpp
0: fatal error: opencv2/cudaoptflow.hpp: No such file or directory #include <opencv2/cudaoptflow.hpp>
nx上默认安装的是opencv4，采用cmake编译的时候，cmake也能找到opencv4，但是编译时候报错：

fatal error: opencv2/opencv.hpp: No such file or directory
#include <opencv2/opencv.hpp>

解决方案

这是因为opencv头文件的路径中多了一个opencv4的文件夹：/usr/include/opencv4/opencv2，

可以将opencv2文件夹链接到include文件夹下

sudo ln -s /usr/include/opencv4/opencv2 /usr/include/

9 find_if(frameset
/home/uav/Desktop/flycarcq_ws/src/realflight_modules/realsense2_camera/src/base_realsense_node.cpp:2223:29: error: ‘find_if’ was not declared in this scope
texture_frame_itr = find_if(frameset.begin(), frameset.end(), [&texture_source_id, &available_formats] (rs2::frame f)

std::find_if(profi         +++++std::

10 #include <opencv2/cudaoptflow.hpp>

/home/uav/Desktop/flycarcq_ws/src/realflight_modules/VINS-Fusion-gpu/vins_estimator/src/estimator/…/featureTracker/feature_tracker.h:21:10: fatal error: opencv2/cudaoptflow.hpp: No such file or directory
#include <opencv2/cudaoptflow.hpp>

和普通opencv的安装区别就是：cmake中告诉编译器，需要安装cuda版本opencv。

cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D WITH_TBB=ON -D WITH_V4L=ON -D WITH_QT=ON -D WITH_OPENGL=ON -D WITH_CUDA=ON -D ENABLE_FAST_MATH=1 -D CUDA_FAST_MATH=1 -D CUDA_NVCC_FLAGS=“-std=c++11 --expt-relaxed-constexpr” -D WITH_CUBLAS=1 -D OPENCV_EXTRA_MODULES_PATH=/home/uav/driver_pacakge/opencv/opencv_contrib/modules/ -D CUDA_GENERATION=Kepler -D OPENCV_ENABLE_NONFREE=True …

sudo make -j8
sudo make install

这里需要注意的地方有：

-DCMAKE_INSTALL_PREFIX=/usr/local/opencv3.3.0，由于我装了多个版本opencv，所以设置安装目录为这个，如果你是第一次安装，也可以设置为/usr/local。
-D CUDA_NVCC_FLAGS=“-std=c++11 --expt-relaxed-constexpr”，这句话是告诉cuda，也使用c++11来编译，否则会报错：“opencv cuda error: identifier “nullptr” is undefined”。
-DOPENCV_EXTRA_MODULES_PATH=/home/jaf/package/opencv-3.3.0/opencv_contrib-3.3.0/modules，这里需要自己指定位置。

https://blog.csdn.net/wq1psa78/article/details/105334859

12
/usr/local/arm/opencv-3.4.0/opencv_contrib-3.4.0/modules/xfeatures2d/include/opencv2/xfeatures2d.hpp:42:10:
fatal error: /opencv2/xfeatures2d.hpp: No such file or directory

根据给的路径找到xfeature2d.hpp的文件并打开，找到第42行如下：

40 #ifndef OPENCV_XFEATURES2D_HPP
41 #define OPENCV_XFEATURES2D_HPP

42 #include"/opencv2/xfeatures2d.hpp"
改为绝对路径

40 #ifndef OPENCV_XFEATURES2D_HPP
41 #define OPENCV_XFEATURES2D_HPP

42#include"/usr/local/arm/opencv3.4.0/opencv_contrib3.4.0/modules/xfeatures2d/include/opencv2/xfeatures2d.hpp"
所有这种找不到的都这么解决。

对于boostdesc_bgm.i的问题直接下载到拟需要的文件夹。

opencv_contrib/modules/xfeatures2d/src/
编译OpenCV提示opencv_contrib缺少boostdesc_bgm.i等文件（超链接）
错误提示：

~/opencv_contrib/modules/xfeatures2d/src/boostdesc.cpp:673:20: fatal error: boostdesc_bgm.i: No such file or directory

解决方法：https://www.cnblogs.com/arxive/p/11778731.html

查看 build 文件夹下的日志文件 CMakeDownloadLog.txt，在日志文件CMakeDownloadLog.txt中搜索 boostdesc_bgm.i 关键词。日志文件里就有它的下载地址，到指定位置下载即可。https://github.com/opencv/opencv_contrib/issues/1301，点开上面这个网址往下拉，有人提供了缺失的各个文件的链接，点击保存. 或者直接在这个网页里搜索 BenbenIO 这个用户的回答。

或者到本文提供的下载镜像去下载：boostdesc_bgm.i,vgg_generated_48.i等.rar

下载后，直接拷贝源码并生存同名文件，放在 opencv_contrib/modules/xfeatures2d/src/ 路径下即可。