荘の学習メモ

1. Install Ceres * Dependencies: $ sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3.1. 4 libgflags-dev $ sudo apt-get install libgoogle-glog-dev libgtest-dev * Eigen version should be newer than 3.3.4. * Download the version  ceres-solver-1.14.0.tar.gz directly. 2. Build code_utils * Dependency: sudo apt-get install libdw-dev * Build the source code in the ROS_WORKSPACE * Modify file: catkin_ws/src/code_utils/src/ sumpixel_test.cpp #include "backward.hpp" ->  #include “code_utils/backward.hpp” 3. Build imu_utils * Build the source code in the ROS_WORKSPACE 4. Run the calibration * Create your own .launch file. (assign the topic name, time duration ...) *  roslaunch imu_utils XXX.launch first and then rosbag play -r 200 XXX.bag ***Don't forget to source setup.bash file ! Reference: [1]  https://github.com/gaowenliang/imu_utils [2]  https://zhuanlan.zhihu.com/p/151675712 [3]  https://blog.csdn.net/qq_41586768/article

In file "/var/kalibr-build/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_common/ ImageDatasetReader.py Modify: img_data = np.array(self.CVB.imgmsg_to_cv(data)) To: img_data = np.squeeze(np.array(self.CVB.imgmsg_to_cv2(data, "mono8"))) Reference: [1]  https://github.com/ethz-asl/kalibr/issues

1. $ROS_PACKAGE_PATH command not found Method: build the source code in a catkin workspace as follows. $ cd ~/catkin_ws $ cd src $ git clone https://github.com/raulmur/BagFromImages.git BagFromImages $ cd BagFromImages $ mkdir build $ cd build $ cmake .. $ make 2. undefined reference to symbol '_ZN14console_bridge3logEPKciNS_8LogLevelES1_z' /usr/lib/x86_64-linux-gnu/libconsole_bridge.so: error adding symbols: DSO missing from command line Method:  libconsole_bridge should be linked in CMakeLists.txt. ex: target_link_libraries (${PROJECT_NAME} console_bridge) Reference: [1]  https://github.com/raulmur/BagFromImages [2]  https://www.cnblogs.com/sparkzxw/p/6501730.html [3]  https://github.com/raulmur/BagFromImages/issues/5