基于场景的相机-雷达联合标定编译记录direct_visual_lidar_calibration
编译
1.本机环境Ubuntu18.04 + Melodic
相关依赖版本:Cmake-3.18.0 gcc-8.4.0 pcl-1.13.0
2.相关依赖
sudo apt install libomp-dev libboost-all-dev libglm-dev libglfw3-dev libpng-dev libjpeg-devgit clone https://github.com/borglab/gtsamcd gtsam && git checkout 4 .2a9mkdir build && cd buildcmake .. -DGTSAM_BUILD_EXAMPLES_ALWAYS = OFF \ -DGTSAM_BUILD_TESTS = OFF \ -DGTSAM_WITH_TBB = OFF \ -DGTSAM_BUILD_WITH_MARCH_NATIVE = OFFmake -j$( nproc) sudo make install git clone https://github.com/ceres-solver/ceres-solvermkdir ceres-solver/build && cd ceres-solver/buildcmake .. -DBUILD_EXAMPLES = OFF -DBUILD_TESTING = OFF -DUSE_CUDA = OFFmake -j$( nproc) sudo make install git clone https://github.com/koide3/iridescence --recursive mkdir iridescence/build && cd iridescence/buildcmake .. -DCMAKE_BUILD_TYPE = Releasemake -j$( nproc) sudo make install cd ~/calibration_ws/srcgit clone https://github.com/koide3/direct_visual_lidar_calibration.git --recursive cd .. && catkin_make
3.踩坑记录
1.安装编译ceres,需要CMake 3.16以上 2.安装iridescence,需要gcc 8以上,不然filesystem会报错。且需要在CMakelist的target_link_libraries中添加stdc++fs。 3.编译最终的direct_visual_lidar_calibration工具时,需要pcl1.10以上版本,不然代码中pcl::make_shared报错。 4.当然在更换CMake,g++,pcl版本时,别忘记修改环境变量 总结:还是本机各种依赖版本太低了。