kalibr的编译bug

最新推荐文章于 2024-04-20 14:12:54 发布

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最新推荐文章于 2024-04-20 14:12:54 发布

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本文详细记录了在Ubuntu16中安装Kalibr标定工具遇到的问题及解决方案，包括处理Nomoudlenamedpyx错误和解决numpy/arrayobject.h文件缺失问题。通过正确的依赖安装和路径配置，成功解决了编译器报错。

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系统ubuntu16
BUG1.No moudule named pyx
BUG2. fatal error: numpy/arrayobject.h: 没有那个文件或目录

BUG1.No moudule named pyx
下载好了kalibr，先用它的python工具产生标定板，以下命令

python kalibr_create_target_pdf --type apriltag --nx 4 --ny 5 --tsize 0.04

编译器报错，import不到pyx这个包（pyx这个python包用于产生pdf文件），然后我就按照常规的pip方法安装python的依赖

sudo pip install pyx

安装完这个包之后还是报错，python语法上的，类似下面这些，反正都是与pyx相关的，因为我电脑上有两个版本的python，我就怀疑是不是pip安装的路径不对，后来参考了n多博客，发现依然没用。

Traceback (most recent call last):
  File "kalibr_create_target_pdf", line 206, in <module>
    generateAprilBoard(canvas, parsed.n_cols, parsed.n_rows, parsed.tsize, parsed.tagspacing, parsed.tagfamiliy, parsed.skipIds)
  File "kalibr_create_target_pdf", line 122, in generateAprilBoard
    c.text(pos[0]+tagSize*0.3, pos[1], "x")
  File "/usr/local/lib/python2.7/dist-packages/pyx/canvas.py", line 324, in text
    return self.insert(self.texrunner.text(x, y, atext, *args, **kwargs))
  File "/usr/local/lib/python2.7/dist-packages/pyx/text.py", line 1194, in text
    self.execute(expr, self.defaulttexmessagesdefaultrun + self.texmessagesdefaultrun + texmessages)
  File "/usr/local/lib/python2.7/dist-packages/pyx/text.py", line 951, in execute
    self.defaulttexmessagesstart + self.texmessagesstart)
  File "/usr/local/lib/python2.7/dist-packages/pyx/text.py", line 1005, in execute
    self.texinput.write(self.expr)
IOError: [Errno 32] Broken pipe
Error in atexit._run_exitfuncs:
Traceback (most recent call last):
  File "/usr/lib/python2.7/atexit.py", line 24, in _run_exitfuncs
    func(*targs, **kargs)
  File "/usr/local/lib/python2.7/dist-packages/pyx/text.py", line 748, in _cleantmp
Exception in thread Thread-1:
Traceback (most recent call last):
  File "/usr/lib/python2.7/threading.py", line 801, in __bootstrap_inner
    self.run()
  File "/usr/local/lib/python2.7/dist-packages/pyx/text.py", line 663, in run
    raise RuntimeError("TeX/LaTeX finished unexpectedly")
RuntimeError: TeX/LaTeX finished unexpectedly
    texrunner.texinput.write("\n\\end\n")

IOError: [Errno 32] Broken pipe
Error in sys.exitfunc:
Traceback (most recent call last):
  File "/usr/lib/python2.7/atexit.py", line 24, in _run_exitfuncs
    func(*targs, **kargs)
  File "/usr/local/lib/python2.7/dist-packages/pyx/text.py", line 748, in _cleantmp
    texrunner.texinput.write("\n\\end\n")
IOError: [Errno 32] Broken pipe

然后就玄学了，我用了这个命令来安装pyx，然后再生成pdf，直接就好了，真的是玄学。

sudo apt-get install python-pyx

BUG2. fatal error: numpy/arrayobject.h: 没有那个文件或目录
首先确认安装了numpy，然后使用下面的命令

ln -s /usr/local/lib/python2.7/dist-packages/numpy/core/include/numpy /usr/local/include/numpy

这个时参考了这位大神的解释

https://github.com/ethz-asl/kalibr/issues/123