autoware 激光-相机联合标定文件编译错误更改

出现一大段错误

在***/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar目录下的CMakeLists.txt添加

set(CMAKE_CXX_STANDARD 14)

由set(CMAKE_CXX_FLAGS “-O2 -Wall -g ${CMAKE_CXX_FLAGS}”)改为

set(CMAKE_CXX_FLAGS "-O2 -Wall -g -std=c++14 ${CMAKE_CXX_FLAGS}")

并且在其中更改if ("${ROS_VERSION}" MATCHES “(indigo|jade|kinetic)”)，如我的是noetic，更改为：

if ("${ROS_VERSION}" MATCHES "(indigo|jade|kinetic|noetic)")

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fatal error: opencv/cv.h: 没有那个文件或目录

34 | #include <opencv/cv.h>
更改为：

#include <opencv2/opencv.hpp>

如果更改后没有起作用，那么在CMakeLists.txt中注释调

if ("${ROS_VERSION}" MATCHES "(indigo|jade|kinetic|noetic)")
    add_executable(calibration_test
            nodes/calibration_test/chessboard.cpp
            nodes/calibration_test/trans.cpp
            nodes/calibration_test/scan_window.cpp
            nodes/calibration_test/common_2d_calib.cpp
            nodes/calibration_test/image_window.cpp
            nodes/calibration_test/camera_lidar2d_offline_calib.cpp)

    set(PARAM_YAML "${CMAKE_CURRENT_SOURCE_DIR}/param.yaml")
    set(CAMERA_YAML "$ENV{HOME}/.ros/autoware/camera_lidar_2d.yaml")

    set_target_properties(calibration_test
            PROPERTIES COMPILE_FLAGS
            "-DPARAM_YAML=${PARAM_YAML} -DCAMERA_YAML=${CAMERA_YAML}")

    target_link_libraries(calibration_test
            ${catkin_LIBRARIES} ${OpenCV_LIBS} xml2 ${OPENGL_LIBRARIES})
endif ()

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