相机雷达标定direct_visual_lidar_calibration部署

之前探索出来autoware适合标定,但是到现场发现autoware不仅采集数据麻烦,同份数据标定出来的值稳定性和重复性比较差,所以重新寻找相关方案.

最终发现direct_visual_lidar_calibration比较符合需求,编译依赖需要显示依赖Iridescence,下载了好久才成功了,所以我将这个包上传到csdn,方便下载.

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sudo apt-get install -y libglm-dev libglfw3-dev libpng-dev libjpeg-dev libeigen3-dev libboost-filesystem-dev libboost-program-options-dev

git clone https://github.com/koide3/iridescence --recursive#这一步很难下载下来,我已经下载好了,在我的csdn里有

mkdir iridescence/build && cd iridescence/build

cmake ..

make -j

cd ..
sudo python3 setup.py install

gtsam报错: error: 'const class gtsam::Pose3' has no member named 'transformFrom';

解决办法:使用作者推荐的版本即可.

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# Install GTSAM
git clone https://github.com/borglab/gtsam
cd gtsam && git checkout 4.2a9
mkdir build && cd build
# For Ubuntu 22.04, add -DGTSAM_USE_SYSTEM_EIGEN=ON
cmake .. -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
         -DGTSAM_BUILD_TESTS=OFF \
         -DGTSAM_WITH_TBB=OFF \
         -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF
make -j$(nproc)
sudo make install

报错 fatal error: fmt/format.h:

解决: 安装fmt

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git clone  https://github.com/fmtlib/fmt.git
cd fmt
mkdir build
cd build
cmake ..
make
sudo make install

error: static assertion failed: Cannot format an argument.

要换版本

https://blog.csdn.net/baidu_38431960/article/details/123529425

报错: /usr/bin/ld: /usr/local/lib/libfmt.a(format.cc.o): relocation R_X86_64_PC32 against symbol `stderr@@GLIBC_2.2.5' can not be used when making a shared object; recompile with -fPIC

在fmt的cmake增加下面一行即可.

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add_compile_options(-fPIC)#添加这句编译选项

报错:

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fatal error: ceres/manifold.h:

解决: 安装ceres 2.1.0