opencv-3.4.13的版本过新，编译Kalibr过程会遇到报错，总结如下：
报错1：sudo pip install python-igraph --upgrade失败
解决办法：
sudo apt-get install python-igraph
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报错2：
Could not find a package configuration file provided by “code_utils” with
any of the following names:
code_utilsConfig.cmake
code_utils-config.cmake```
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解决办法：
step1：
cd kalibr_ws
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
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step2:
step3:
catkin build -DCMAKE_BUILD_TYPE=Release -j4
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报错3：catkin build -DCMAKE_BUILD_TYPE=Release -j4 编译过程中出现的错误
3-1 报错：
error: ‘CV_GRAY2RGB’ was not declared in this scope
cv::cvtColor(imageCopy1, imageCopy1, CV_GRAY2RGB);
error: ‘CV_TERMCRIT_ITER’ was not declared in this scope
cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
error: ‘CV_TERMCRIT_EPS’ was not declared in this scope
cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
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3-1 解决办法： 对应文件中添加头文件：
#include <opencv2/imgproc/types_c.h>
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##############################################################################################################
3-2 cvStartWindowThread()错误：
3-2 改成：
cv::startWindowThread()
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3-3 CV_LOAD_IMAGE_UNCHANGED 错误：
3-3 改成
cv::IMREAD_UNCHANGED
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3-4 CV_LOAD_IMAGE_GRAYSCALE 错误：
3-4 改成
cv::IMREAD_GRAYSCALE错误：
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3-5 CV_LOAD_IMAGE_GRAYSCALE 错误：
3-5 改成
cv::IMREAD_GRAYSCALE
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3-6 CV_LOAD_IMAGE_COLOR错误：
3-6 改成
cv::IMREAD_COLOR
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3-7 CV_LOAD_IMAGE_ANYDEPTH 错误：
3-7 改成
cv::IMREAD_ANYDEPTH
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3-8 CV_MINMAX 错误：
3-8 改成
NORM_MINMAX
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3-9 CV_FONT_HERSHEY_SIMPLEX错误：
3-9 改成
cv::FONT_HERSHEY_SIMPLEX```
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3-10 CV_WINDOW_AUTOSIZE错误：
3-10 改成
cv::WINDOW_AUTOSIZE
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3-11 报错：error: aggregate ‘std::ofstream out_t’ has incomplete type and cannot be defined std::ofstream out_t;
3-11 解决办法：添加头文件：
#include <fstream>
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