ubuntu18.04安装calibration_toolkit标定工具箱可能遇到的编译错误

项目场景：

Ubuntu18.04安装calibration_toolkit标定工具箱，相机和激光雷达联合标定。

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问题描述

在编译时可能遇到的错误：

CMakeFiles/calibration_publisher.dir/nodes/calibration_publisher/calibration_publisher.cpp.o: In function `main':
/usr/local/include/opencv2/core/cvstd.inl.hpp:150: undefined reference to `cv::read(cv::FileNode const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
collect2: error: ld returned 1 exit status
calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_publisher.dir/build.make:349: recipe for target '/home/nnnn/calibration/devel/lib/calibration_camera_lidar/calibration_publisher' failed
make[2]: *** [/home/nnnn/calibration/devel/lib/calibration_camera_lidar/calibration_publisher] Error 1
CMakeFiles/Makefile2:5667: recipe for target 'calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_publisher.dir/all' failed
make[1]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_publisher.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 97%] Built target calibrationtoolkit
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j16 -l16" failed

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原因分析：

找了好久问题也没解决，最后看到一篇博客很相似的问题，按照他的教程也没解决，后来仔细看了一下他的问题，发现他是安装autowarwe编译出现该问题，而我是在安装calibration_toolkit标定工具箱出现该问题，所以出现该问题是要修改你安装的目录下的CMakeLists.txt,而不是简单地跟他一样修改一样的路径下的CMakeLists.txt.

下面是参考的博客：

https://blog.youkuaiyun.com/weixin_44570248/article/details/118463028

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解决方案：

在文件夹里进入安装的目录，然后搜索CMakeLists.txt,这里会出现很多个CMakeLists.txt，我们打开src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar路径下的CMakeLists.txt，如果不确定是哪个.txt，可以逐个打开看一下，有target_link_libraries(calibration_publisher说明就是该.txt

 打开该CMakeLists.txt，在 target_link_libraries(calibration_publisher
${catkin_LIBRARIES} 后面添加

${openCV_LIBS} #added 

 

编译成功