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PJLab-ADG / SensorsCalibration

OpenCalib: A Multi-sensor Calibration Toolbox for Autonomous Driving
Apache License 2.0
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编译lidar2camera\manual_calib报错问题及解决方法 #134

Open zhjr2019 opened 6 months ago

zhjr2019 commented 6 months ago

（1）报错：add_library cannot create imported target "JsonCpp::JsonCpp" because another target with the same name already exists. 解决方法：如果通过sudo apt install libjsoncpp-dev安装的JsonCPP，修改/usr/lib/x86_64-linux-gnu/cmake/jsoncpp/jsoncpp-namespaced-targets.cmake，增加 AND NOT TARGET JsonCpp::JsonCpp 修改后jsoncpp-namespaced-targets.cmake如下

if (TARGET jsoncpp_static AND NOT TARGET JsonCpp::JsonCpp)
    add_library(JsonCpp::JsonCpp INTERFACE IMPORTED)
    set_target_properties(JsonCpp::JsonCpp PROPERTIES INTERFACE_LINK_LIBRARIES "jsoncpp_static")
elseif (TARGET jsoncpp_lib AND NOT TARGET JsonCpp::JsonCpp)
    add_library(JsonCpp::JsonCpp INTERFACE IMPORTED)
    set_target_properties(JsonCpp::JsonCpp PROPERTIES INTERFACE_LINK_LIBRARIES "jsoncpp_lib")
endif ()

（2）报错：cc1plus: error: too many filenames given; type ‘cc1plus --help’ for usage 解决方法：将CMakeLists.txt中的set(CMAKE_CXX_FLAGS "-g3 -o -Wall")修改为set(CMAKE_CXX_FLAGS "-g -O3 -Wall")

修改完后的CMakeLists.txt如下：

cmake_minimum_required(VERSION 2.8.3)
project(lidar2camera)
set(CMAKE_CXX_FLAGS "-g -O3 -Wall")  # set(CMAKE_CXX_FLAGS "-g3 -o -Wall")
set(CMAKE_CXX_STANDARD 17)

find_package(Pangolin REQUIRED)  # 已安装 0.5 版，故注释掉find_package(Pangolin 0.8 REQUIRED)
include_directories(${Pangolin_INCLUDE_DIRS})
link_directories(${Pangolin_LIBRARY_DIRS})

find_package(PCL REQUIRED)  # 已安装 1.13.1 版，故注释掉find_package(PCL 1.9 EXACT REQUIRED)
find_package(Boost REQUIRED system)
find_package(OpenCV REQUIRED)
find_package(jsoncpp REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
include_directories(${OpenCV_INCLUDE_DIRS})
include_directories(${EIGEN_ROOT})
include_directories(${PROJECT_SOURCE_DIR}/include)
include_directories(${PROJECT_SOURCE_DIR}/src)

link_directories(${OpenCV_LIBRARY_DIRS})

set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)

add_executable(run_lidar2camera src/run_lidar2camera.cpp)
target_link_libraries(run_lidar2camera jsoncpp_lib ${PCL_LIBRARIES} ${Pangolin_LIBRARIES} ${OpenCV_LIBS} ${Boost_SYSTEM_LIBRARY})

编译成功： zhjr@Karon:/mnt/c/Users/zhjr/zhjrProjects/SensorsCalibration/lidar2camera/manual_calib$ cmake -S . -B build CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required): Compatibility with CMake < 2.8.12 will be removed from a future version of CMake.

Update the VERSION argument value or use a ... suffix to tell CMake that the project does not need compatibility with older versions.

-- The C compiler identification is GNU 11.4.0 -- The CXX compiler identification is GNU 11.4.0 -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Check for working C compiler: /usr/bin/cc - skipped -- Detecting C compile features -- Detecting C compile features - done -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Check for working CXX compiler: /usr/bin/c++ - skipped -- Detecting CXX compile features -- Detecting CXX compile features - done CMake Warning (dev) at CMakeLists.txt:10 (find_package): Ignoring EXACT since no version is requested. This warning is for project developers. Use -Wno-dev to suppress it.

-- Checking for module 'eigen3' -- Found eigen3, version 3.4.0 -- Found Eigen: /usr/include/eigen3 (Required is at least version "3.1") -- Eigen found (include: /usr/include/eigen3, version: 3.4.0) -- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.74.0/BoostConfig.cmake (found suitable version "1.74.0", minimum required is "1.65.0") found components: system filesystem date_time iostreams serialization -- Checking for module 'flann' -- Found flann, version 1.9.1 -- Found FLANN: /usr/lib/x86_64-linux-gnu/libflann_cpp.so -- FLANN found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libflann_cpp.so) -- Looking for pthread.h -- Looking for pthread.h - found -- Performing Test CMAKE_HAVE_LIBC_PTHREAD -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success -- Found Threads: TRUE -- Found GLEW: /usr/lib/x86_64-linux-gnu/libGLEW.so -- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so found components: OpenGL GLX -- Found MPI_C: /usr/lib/x86_64-linux-gnu/libmpi.so (found version "3.1") -- Found MPI: TRUE (found version "3.1") found components: C -- Found JsonCpp: /usr/lib/x86_64-linux-gnu/libjsoncpp.so (found suitable version "1.9.5", minimum required is "0.7.0") -- Found ZLIB: /usr/lib/x86_64-linux-gnu/libz.so (found version "1.2.11") -- Found PNG: /usr/lib/x86_64-linux-gnu/libpng.so (found version "1.6.37") -- Found Eigen3: /usr/include/eigen3 (found version "3.4.0") -- Found X11: /usr/include -- Looking for XOpenDisplay in /usr/lib/x86_64-linux-gnu/libX11.so;/usr/lib/x86_64-linux-gnu/libXext.so -- Looking for XOpenDisplay in /usr/lib/x86_64-linux-gnu/libX11.so;/usr/lib/x86_64-linux-gnu/libXext.so - found -- Looking for gethostbyname -- Looking for gethostbyname - found -- Looking for connect -- Looking for connect - found -- Looking for remove -- Looking for remove - found -- Looking for shmat -- Looking for shmat - found -- Looking for IceConnectionNumber in ICE -- Looking for IceConnectionNumber in ICE - found -- Found EXPAT: /usr/lib/x86_64-linux-gnu/libexpat.so (found version "2.4.7") -- Found double-conversion: /usr/lib/x86_64-linux-gnu/libdouble-conversion.so -- Found LZ4: /usr/lib/x86_64-linux-gnu/liblz4.so (found version "1.9.3") -- Found LZMA: /usr/lib/x86_64-linux-gnu/liblzma.so (found version "5.2.5") -- Found JPEG: /usr/lib/x86_64-linux-gnu/libjpeg.so (found version "80") -- Found TIFF: /usr/lib/x86_64-linux-gnu/libtiff.so (found version "4.3.0") -- Found Freetype: /usr/lib/x86_64-linux-gnu/libfreetype.so (found version "2.11.1") -- Found utf8cpp: /usr/include/utf8cpp -- Checking for module 'libusb-1.0' -- Found libusb-1.0, version 1.0.25 -- Found libusb: /usr/lib/x86_64-linux-gnu/libusb-1.0.so -- Found OpenNI: /usr/lib/libOpenNI.so;libusb::libusb (found version "1.5.4.0") -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) -- Found OpenNI2: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb (found version "2.2.0.33") -- OpenNI2 found (version: 2.2.0.33, include: /mnt/c/Program Files/PCL 1.13.1/3rdParty/OpenNI2/Include, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb) WARNING io features related to pcap will be disabled -- Eigen found (include: /usr/include/eigen3, version: 3.4.0) -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) -- OpenNI2 found (version: 2.2.0.33, include: /mnt/c/Program Files/PCL 1.13.1/3rdParty/OpenNI2/Include, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb) -- Found Qhull version 8.0.2 -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) -- looking for PCL_COMMON -- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so -- looking for PCL_KDTREE -- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so -- looking for PCL_OCTREE -- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so -- looking for PCL_SEARCH -- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so -- looking for PCL_SAMPLE_CONSENSUS -- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so -- looking for PCL_FILTERS -- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so -- looking for PCL_2D -- Found PCL_2D: /usr/include/pcl-1.12 -- looking for PCL_GEOMETRY -- Found PCL_GEOMETRY: /usr/include/pcl-1.12 -- looking for PCL_IO -- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so -- looking for PCL_FEATURES -- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so -- looking for PCL_ML -- Found PCL_ML: /usr/lib/x86_64-linux-gnu/libpcl_ml.so -- looking for PCL_SEGMENTATION -- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so -- looking for PCL_VISUALIZATION -- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so -- looking for PCL_SURFACE -- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so -- looking for PCL_REGISTRATION -- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so -- looking for PCL_KEYPOINTS -- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so -- looking for PCL_TRACKING -- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so -- looking for PCL_RECOGNITION -- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so -- looking for PCL_STEREO -- Found PCL_STEREO: /usr/lib/x86_64-linux-gnu/libpcl_stereo.so -- looking for PCL_APPS -- Found PCL_APPS: /usr/lib/x86_64-linux-gnu/libpcl_apps.so -- looking for PCL_IN_HAND_SCANNER -- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.12 -- looking for PCL_MODELER -- Found PCL_MODELER: /usr/include/pcl-1.12 -- looking for PCL_POINT_CLOUD_EDITOR -- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.12 -- looking for PCL_OUTOFCORE -- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so -- looking for PCL_PEOPLE -- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so -- Found PCL: pcl_common;pcl_kdtree;pcl_octree;pcl_search;pcl_sample_consensus;pcl_filters;pcl_io;pcl_features;pcl_ml;pcl_segmentation;pcl_visualization;pcl_surface;pcl_registration;pcl_keypoints;pcl_tracking;pcl_recognition;pcl_stereo;pcl_apps;pcl_outofcore;pcl_people;Boost::system;Boost::filesystem;Boost::date_time;Boost::iostreams;Boost::serialization;/usr/lib/libOpenNI.so;libusb::libusb;/usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb;VTK::ChartsCore;VTK::CommonColor;VTK::CommonComputationalGeometry;VTK::CommonCore;VTK::CommonDataModel;VTK::CommonExecutionModel;VTK::CommonMath;VTK::CommonMisc;VTK::CommonTransforms;VTK::FiltersCore;VTK::FiltersExtraction;VTK::FiltersGeneral;VTK::FiltersGeometry;VTK::FiltersModeling;VTK::FiltersSources;VTK::ImagingCore;VTK::ImagingSources;VTK::InteractionImage;VTK::InteractionStyle;VTK::InteractionWidgets;VTK::IOCore;VTK::IOGeometry;VTK::IOImage;VTK::IOLegacy;VTK::IOPLY;VTK::RenderingAnnotation;VTK::RenderingCore;VTK::RenderingContext2D;VTK::RenderingLOD;VTK::RenderingFreeType;VTK::ViewsCore;VTK::ViewsContext2D;VTK::RenderingOpenGL2;VTK::GUISupportQt;FLANN::FLANN;QHULL::QHULL -- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.74.0/BoostConfig.cmake (found version "1.74.0") found components: system -- Found OpenCV: /usr/local/opencv480 (found version "4.8.0") -- Configuring done -- Generating done -- Build files have been written to: /mnt/c/Users/zhjr/zhjrProjects/SensorsCalibration/lidar2camera/manual_calib/build zhjr@Karon:/mnt/c/Users/zhjr/zhjrProjects/SensorsCalibration/lidar2camera/manual_calib$ cmake --build build [ 50%] Building CXX object CMakeFiles/run_lidar2camera.dir/src/run_lidar2camera.cpp.o [100%] Linking CXX executable ../bin/run_lidar2camera [100%] Built target run_lidar2camera

运行：./bin/run_lidar2camera data/0.png data/0.pcd data/center_camera-intrinsic.json data/top_center_lidar-to-center_camera-extrinsic.json 显示： image

HelloSZS commented 1 month ago

thank you. I have solve the problem!