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Compiling and installing kalibr seems simple, but in fact it is extremely dangerous. If you are not careful, it can easily take a week. After going through many difficulties and dangers, the process is now recorded as follows:
Prerequisite: ubuntu 18.04, ros melodic has been installed correctly
(1), first edition
1. Install dependencies
sudo apt-get install python-setuptools python-rosinstall ipython libeigen3-dev libboost-all-dev doxygen libopencv-dev ros-melodic-vision-opencv ros-melodic-image-transport-plugins ros-melodic-cmake-modules python-software-properties software-properties-common libpoco-dev python-matplotlib python-scipy python-git python-pip ipython libtbb-dev libblas-dev liblapack-dev python-catkin-tools libv4l-dev
2. Install python-igraph
sudo pip install python-igraph --upgrade
本步骤如果不成功，则可以直接安装：
sudo apt-get install python-igraph
3. Set up the workspace
mkdir -p ~/kalibr_workspace/src
cd ~/kalibr_workspace
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
4. Clone the Kalibr project
cd ~/kalibr_workspace/src
git clone https://github.com/ethz-asl/Kalibr.git
5. Modify the file and
open the src/Kalibr/aslam_cv/aslam_imgproc/include/aslam/implementation/aslamcv_helper.hpp file
and change all "CvSize" to "cv::Size", a total of 3 places.
6. Compilation and debugging:
Use the following command to compile:
cd ~/kalibr_workspace
catkin build -DCMAKE_BUILD_TYPE=Release -j4
7. After successful compilation, restore the workspace
source ~/kalibr_workspace/devel/setup.bash
If the installation of the first version does not solve the problem, please see the second version.
(2), second edition
1. Install dependencies
sudo apt-get install python-setuptools python-rosinstall ipython libeigen3-dev libboost-all-dev doxygen libopencv-dev ros-melodic-vision-opencv ros-melodic-image-transport-plugins ros-melodic-cmake-modules python-software-properties software-properties-common libpoco-dev python-matplotlib python-scipy python-git python-pip ipython libtbb-dev libblas-dev liblapack-dev python-catkin-tools libv4l-dev
2. Install python-igraph
sudo pip install python-igraph --upgrade
本步骤如果不成功，则可以直接安装：
sudo apt-get install python-igraph
3. Set up the workspace
mkdir -p ~/kalibr_workspace/src
cd ~/kalibr_workspace
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
4. Clone the Kalibr project
cd ~/kalibr_workspace/src
git clone https://github.com/ethz-asl/Kalibr.git
5. Replace the Opencv and Catkin files used by Kalibr
(1) Go to the Kalibr folder and delete the opencv2_catkin and catkin_simple folders
cd ~/kalibr_workspace/src/Kalibr
rm -r opencv2_catkin
rm -r catkin_simple
(2) Re-download the opencv2_catkin and catkini_simple files
opencv2_catkin下载地址：https://github.com/ethz-asl/opencv2_catkin
catkini_simple下载地址：https://github.com/catkin/catkin_simple
You can clone it directly to the Kalibr folder (in short, put the two folders opencv2_catkin and catkin_simple into the Kalibr folder)
6. Compilation and troubleshooting
Use the following commands to compile:
cd ~/kalibr_workspace
catkin build -DCMAKE_BUILD_TYPE=Release -j4
Error 1:
CMake Error at cmake/OpenCVDetectCXXCompiler.cmake:89 (math):
math cannot parse the expression: "*100 + ": syntax error, unexpected
exp_TIMES, expecting exp_PLUS or exp_MINUS or exp_OPENPARENT or exp_NUMBER (1)
Liberation solution:
original OpenCVDetectCXXCompiler.cmake There is an error in the file. The path where the file is located:
kalibr_workspace\build\opencv2_catkin\opencv2_src-prefix\src\opencv2_src\cmake
Replace with the file of the same name. Download address: https://pan.baidu.com/s/1Fss8hFIymkkAlS-kAtomZA
Error 2:
modules/contrib/src/chamfermatching.cpp:969:30: error: the compiler can assume that the address of ‘annotate_img’ will never be NULL [-Werror=address]
if (&annotate_img!=NULL) {
^
modules/contrib/src/chamfermatching.cpp:1016:34: error: the compiler can assume that the address of ‘annotate_img’ will never be NULL [-Werror=address]
if (&annotate_img!=NULL) {
解决方案：
打开文件：kalibr_workspace/build/opencv2_catkin/opencv2_src-prefix/src/opencv2_src/modules/contrib/CMakeFiles/opencv_contrib.dir/flags.make
(kalibr_workspace/build/opencv2_catkin/opencv2_src-prefix/src/opencv2_src/modules/contrib/CMakeFiles/opencv_contrib.dir/src/flags.make)
删除 -Werror=address，保存
Error 3:
error: 'CODEC_ID_H264' was not declared in this scope
'CODEC_FLAG_GLOBAL_HEADER' was not declared in this scope
Solution:
Open the file: kalibr_workspace/src/Kalibr/opencv2_catkin/CMakeLists.txt
Add -D WITH_FFMPEG=OFF, save
最后，再使用catkin build -DCMAKE_BUILD_TYPE=Release -j4 编译
7. After successful compilation, restore the workspace
source ~/kalibr_workspace/devel/setup.bash
Little secret:
When cloning open source files on github.com, adding cnpmjs.org will greatly speed up the process, such as:
git clone https://github.com.cnpmjs.org/ethz-asl/Kalibr.git