网站主办单位负责人,2019做网站需要营业执照吗,宿州网站建设价格,网站建设 吉林激光雷达与惯导标定#xff1a;Lidar_IMU_Init 编译 功能包安装安装ceres-solver-2.0.0 #xff08;注意安装2.2.0不行#xff0c;必须要安装2.0.0#xff09; LI-Init是一种鲁棒、实时的激光雷达惯性系统初始化方法。该方法可校准激光雷达与IMU之间的时间偏移量和外部参数… 激光雷达与惯导标定Lidar_IMU_Init 编译 功能包安装安装ceres-solver-2.0.0 注意安装2.2.0不行必须要安装2.0.0 LI-Init是一种鲁棒、实时的激光雷达惯性系统初始化方法。该方法可校准激光雷达与IMU之间的时间偏移量和外部参数以及重力矢量和IMU偏差。我们的方法不需要任何目标或额外的传感器特定的结构化环境先前的环境点图或初始值的外在和时间偏移。
功能包安装
需要环境要求 Ubuntu 18.04. ROS Melodic PCL 1.8 Eigen 3.3.4
下载源码
git clone https://github.com/hku-mars/LiDAR_IMU_Init.git下载完成提示 正克隆到 ‘LiDAR_IMU_Init’… remote: Enumerating objects: 340, done. remote: Counting objects: 100% (118/118), done. remote: Compressing objects: 100% (62/62), done. remote: Total 340 (delta 79), reused 78 (delta 55), pack-reused 222 接收对象中: 100% (340/340), 46.43 MiB | 2.57 MiB/s, 完成. 处理 delta 中: 100% (161/161), 完成. 拷贝到工作空间中进行编译
报错提示如下 CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by “livox_ros_driver” with any of the following names: livox_ros_driverConfig.cmake livox_ros_driver-config.cmake Add the installation prefix of “livox_ros_driver” to CMAKE_PREFIX_PATH or set “livox_ros_driver_DIR” to a directory containing one of the above files. If “livox_ros_driver” provides a separate development package or SDK, be sure it has been installed. Call Stack (most recent call first): LiDAR_IMU_Init/CMakeLists.txt:45 (find_package) 原因是该功能包的CMakeLists.txt文件中的第45行
find_package(catkin REQUIRED COMPONENTSgeometry_msgsnav_msgssensor_msgsroscpprospystd_msgspcl_rostflivox_ros_driver #需要这个功能包但是没有找到message_generationeigen_conversions
)需要livox_ros_driver这个功能包但是没有找到
安装这个功能包需要提前下载安装好Livox SDK
git clone https://github.com/Livox-SDK/Livox-SDK.git
cd Livox-SDK
cd build cmake ..成功后提示 – Configuring done – Generating done – Build files have been written to: /home/jk-jone/Livox-SDK/build make成功后提示 [100%] Linking CXX executable lidar_utc_sync [100%] Built target lidar_utc_sync sudo make install成功后提示 – Install configuration: “” – Installing: /usr/local/lib/liblivox_sdk_static.a – Installing: /usr/local/include/livox_def.h – Installing: /usr/local/include/livox_sdk.h 下载livox_ros_driver功能包
git clone https://github.com/Livox-SDK/livox_ros_driver.git放到工作空间中进行编译 则不再提示 Could not find a package configuration file provided by “livox_ros_driver”
再次编译提示缺少Ceres功能包 Make Error at LiDAR_IMU_Init/CMakeLists.txt:61 (find_package): By not providing “FindCeres.cmake” in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by “Ceres”, but CMake did not find one. Could not find a package configuration file provided by “Ceres” with any of the following names: CeresConfig.cmake ceres-config.cmake Add the installation prefix of “Ceres” to CMAKE_PREFIX_PATH or set “Ceres_DIR” to a directory containing one of the above files. If “Ceres” provides a separate development package or SDK, be sure it has been installed. 安装ceres-solver-2.0.0 注意安装2.2.0不行必须要安装2.0.0
先安装ceres依赖
sudo apt-get install cmake
sudo apt-get install libgoogle-glog-dev libgflags-dev
sudo apt-get install libatlas-base-dev
sudo apt-get install libeigen3-dev下载ceres-solver-2.0.0
git clone https://github.com/ceres-solver/ceres-solver # 这个版本不行
git clone -b 2.0.0 https://github.com/ceres-solver/ceres-solver.git下载完成后形成该文件
然后进行编译
cd ceres-solver
mkdir build
cd build
cmake ..成功后提示 – Build the examples. – Configuring done – Generating done – Build files have been written to: /home/jk-jone/ceres-solver/build 然后再进行make
make -j4成功后显示 [ 99%] Built target ba_iterschur_suitesparse_clusttri_user_test [100%] Linking CXX executable …/…/…/bin/ba_sparsecholesky_suitesparse_user_threads_test [100%] Built target ba_sparsecholesky_suitesparse_user_threads_test 最后进行安装
sudo make install成功后显示 – Installing: /usr/local/include/ceres/internal/config.h – Installing: /usr/local/include/ceres/internal/export.h – Installing: /usr/local/lib/cmake/Ceres/CeresTargets.cmake – Installing: /usr/local/lib/cmake/Ceres/CeresTargets-release.cmake – Installing: /usr/local/lib/cmake/Ceres/CeresConfig.cmake – Installing: /usr/local/lib/cmake/Ceres/CeresConfigVersion.cmake – Installing: /usr/local/lib/cmake/Ceres/FindGlog.cmake 至此Ceres-solver-2.0.0安装完毕
这个功能包对ceres-solver的版本有要求2.2.0的版本有问题需要2.0.0的版本
再次对工作空间进行编译
编译成功
