ubuntu18安装Autoware 标定工具箱

参考链接：

https://blog.csdn.net/zbr794866300/article/details/107109186#:~:text=Autoware1.10%E4%BB%A5%E4%B8%8A%E7%9A%84%E8%BD%AF%E4%BB%B6%E9%83%BD%E9%9C%80%E8%A6%81%E5%8D%95%E7%8B%AC%E5%AE%89%E8%A3%85%E8%BF%99%E4%B8%AAcalibration%E6%A0%87%E5%AE%9A%E5%B7%A5%E5%85%B7%E7%AE%B1,1.nlopt%E5%AE%89%E8%A3%85%20%E6%96%B0%E5%BC%80%E4%B8%80%E4%B8%AA%E7%BB%88%E7%AB%AF%EF%BC%9A

单独安装标定工具包即可。

1. nlopt安装

2. calibration_camera_lidar安装

缺包：

CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):

Could not find a package configuration file provided by

"jsk_recognition_msgs" with any of the following names:

本人环境ubuntu18.04，安装jsk_recognition_msgs

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

new bgug：

CMake Error at /usr/share/cmake-3.25/Modules/FindPackageHandleStandardArgs.cmake:230 (message):

Could NOT find GLUT (missing: GLUT_glut_LIBRARY GLUT_INCLUDE_DIR)

https://blog.csdn.net/weixin_46584887/article/details/125747117

sudo apt-get install freeglut3-dev

new new bug:

https://blog.csdn.net/qq_49959714/article/details/126266954

修改src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar路径下的CMakeLists.txt

bug：没有节点，修改CMakeLists.txt文件

https://blog.csdn.net/zbr794866300/article/details/122216233

bug:缺少头文件

https://blog.csdn.net/qq_49959714/article/details/126234827#:~:text=%2Fhone%2Fnnnn%2Fcalibration%2Fsrc%2Fcalibration_canera_lidar%2Fls_calibration%2Fcalibration_canera_lidar%2Fnodes%2Fcalibration_test%2Fscan_window.cpp%3A42%3A45%3A%20error%3A%27CV_RGB%E2%80%99%20was%20not%20declared,in%20this%20scope%20%E8%A7%A3%E5%86%B3%E6%96%B9%E6%B3%95%EF%BC%9A%20%E8%BF%9B%E5%85%A5%E6%8A%A5%E9%94%99%E7%9A%84%E6%96%87%E4%BB%B6%E6%B7%BB%E5%8A%A0.h%E6%96%87%E4%BB%B6%EF%BC%9A

/home/pilot/robosense/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:42:45: error: ‘CV_RGB’ was not declared in this scope

cvLine(image, line_start, line_end, CV_RGB (120, 120, 120), 1, 8, 0);

^~~~~~

报错：conversion from ‘cv::Mat’ to non-scalar type ‘IplImage {aka _IplImage}

https://blog.csdn.net/weixin_43562170/article/details/117963652

对照教程、提示修改对应文件：

// IplImage temp = cv_image->image;

IplImage temp = cvIplImage(cv_image->image);

报错：

error: no match for ‘operator=’ (operand types are ‘CvMat’ and ‘cv::Mat’)

*m_intrinsic = m_intrinsic_opencv2to1;

^~~~~~~~~~~~~~~~~~~~~~

error: no match for ‘operator=’ (operand types are ‘CvMat’ and ‘cv::Mat’)

*m_dist = m_dist_opencv2to1;

^~~~~~~~~~~~~~~~~

就剩下这两个错误了！！！！注释掉了这两句，在代码中只看到了赋值，没有看到其他使用

工具包现在可以启动开，但是不确定能否正常使用，毕竟注释了两条代码。

下一篇记录使用过程～