老哥问一下哈这个工具包有标定教程吗

请问 您用过16线激光雷达 标定autoware吗？会因为线束太少而失败吗？谢谢指导？

你好，我想问一下。我现在工业相机在ROS中没有驱动，启动不了，雷达在Ros中可以驱动。请问这样的情况怎么进行相机和雷达的联合标定呢？autoware可以直接输入图片和雷达的pcd文件进行联合标定吗？感谢回答

Do you have any papers related to this project?Very eager to study it in depth,Thank you very much.

System information

• Linux Ubuntu 18.04;
• Robosense Lidar;

Steps to reproduce the issue:

• I used rosrun calibration_camera_lidar calibration_toolkit to run the calibration
• used rosbag play --pause xx.bag /rslidar_points:=/points_raw
• I followed your step and I got the calibration result
• I wanted to get point-image to check my result
• When I clicked the Project botton, there was not any point cloud in my image

Is there any mistake in my steps? Could you help me?

您好，为在编译的时候出现来这个错误，请问您有什么建议吗?

Scanning dependencies of target calibration_test
[ 92%] Building CXX object calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_publisher.dir/calibration_publisher_autogen/mocs_compilation.cpp.o
[ 92%] Building CXX object calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_publisher.dir/nodes/calibration_publisher/calibration_publisher.cpp.o
[ 92%] Building CXX object calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/calibration_test_autogen/mocs_compilation.cpp.o
[ 92%] Building CXX object calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/trans.cpp.o
[ 93%] Building CXX object calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/chessboard.cpp.o
[ 93%] Building CXX object calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/scan_window.cpp.o
[ 93%] Building CXX object calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/image_window.cpp.o
[ 93%] Building CXX object calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/camera_lidar2d_offline_calib.cpp.o
c++: error: calibration/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/param.yaml: 没有那个文件或目录
c++: error: calibration/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/param.yaml: 没有那个文件或目录
c++: error: calibration/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/param.yaml: 没有那个文件或目录
calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/build.make:82: recipe for target 'calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/calibration_test_autogen/mocs_compilation.cpp.o' failed
make[2]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/calibration_test_autogen/mocs_compilation.cpp.o] Error 1
make[2]: *** 正在等待未完成的任务....
calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/build.make:108: recipe for target 'calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/trans.cpp.o' failed
make[2]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/trans.cpp.o] Error 1
[ 94%] Building CXX object calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/common_2d_calib.cpp.o
calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/build.make:95: recipe for target 'calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/chessboard.cpp.o' failed
make[2]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/chessboard.cpp.o] Error 1
c++: error: calibration/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/param.yaml: 没有那个文件或目录
c++: error: calibration/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/param.yaml: 没有那个文件或目录
c++: error: calibration/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/param.yaml: 没有那个文件或目录
calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/build.make:160: recipe for target 'calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/camera_lidar2d_offline_calib.cpp.o' failed
make[2]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/camera_lidar2d_offline_calib.cpp.o] Error 1
calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/build.make:147: recipe for target 'calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/image_window.cpp.o' failed
make[2]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/image_window.cpp.o] Error 1
calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/build.make:121: recipe for target 'calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/scan_window.cpp.o' failed
make[2]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/scan_window.cpp.o] Error 1
c++: error: calibration/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/param.yaml: 没有那个文件或目录
calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/build.make:134: recipe for target 'calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/common_2d_calib.cpp.o' failed
make[2]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/common_2d_calib.cpp.o] Error 1
CMakeFiles/Makefile2:4493: recipe for target 'calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/all' failed
make[1]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
[ 94%] Built target calibrationtoolkit_autogen
[ 95%] Linking CXX executable "/home/zzqjh/learn/autoware calibration/calibration/devel/lib/calibration_camera_lidar/calibration_publisher"
[ 95%] Built target calibration_publisher
Makefile:160: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j12 -l12" failed

我用的是qt5.15，在arm架构下编译报错
/home/nvidia/ZYL/lidar_calibration/build/calibration_camera_lidar-master/ls_calibration/calibration_camera_lidar/calibrationtoolkit_autogen/J2IZMZSHYC/moc_calibrationtoolkit.cpp:224:1: error: ‘QT_INIT_METAOBJECT’ does not name a type; did you mean ‘Q_INIT_RESOURCE’?
QT_INIT_METAOBJECT const QMetaObject CalibrationToolkitBase::staticMetaObject = { {
^~~~~~~~~~~~~~~~~~
Q_INIT_RESOURCE
/home/nvidia/ZYL/lidar_calibration/build/calibration_camera_lidar-master/ls_calibration/calibration_camera_lidar/calibrationtoolkit_autogen/J2IZMZSHYC/moc_calibrationtoolkit.cpp:412:1: error: ‘QT_INIT_METAOBJECT’ does not name a type; did you mean ‘Q_INIT_RESOURCE’?
QT_INIT_METAOBJECT const QMetaObject CalibrateCameraBase::staticMetaObject = { {
^~~~~~~~~~~~~~~~~~
Q_INIT_RESOURCE
/home/nvidia/ZYL/lidar_calibration/build/calibration_camera_lidar-master/ls_calibration/calibration_camera_lidar/calibrationtoolkit_autogen/J2IZMZSHYC/moc_calibrationtoolkit.cpp:505:1: error: ‘QT_INIT_METAOBJECT’ does not name a type; did you mean ‘Q_INIT_RESOURCE’?

/home/yxx/disk/lidar_imu_calib/src/calibration_camera_lidar-master/ls_calibration/calibration_camera_lidar/nodes/calibration_test/chessboard.cpp: In function ‘bool findChessboard(IplImage*, int, int, int, CvMat*, int*, CvPoint2D32f*, CvPoint3D32f*)’:
/home/yxx/disk/lidar_imu_calib/src/calibration_camera_lidar-master/ls_calibration/calibration_camera_lidar/nodes/calibration_test/chessboard.cpp:50:13: error: ‘cvFindChessboardCorners’ was not declared in this scope
50 | found = cvFindChessboardCorners (image, pattern_size, &corners[0], corner_count);
| ^~~~~~~~~~~~~~~~~~~~~~~
/home/yxx/disk/lidar_imu_calib/src/calibration_camera_lidar-master/ls_calibration/calibration_camera_lidar/nodes/calibration_test/chessboard.cpp: In function ‘void drawChessboard(IplImage*, int, int, int, CvPoint2D32f*, CvMat*)’:
/home/yxx/disk/lidar_imu_calib/src/calibration_camera_lidar-master/ls_calibration/calibration_camera_lidar/nodes/calibration_test/chessboard.cpp:66:5: error: ‘cvDrawChessboardCorners’ was not declared in this scope
66 | cvDrawChessboardCorners (image, pattern_size, &corners[0], corner_count, 1);
| ^~~~~~~~~~~~~~~~~~~~~~~
make[2]: *** [calibration_camera_lidar-master/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/build.make:76：calibration_camera_lidar-master/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/chessboard.cpp.o] 错误 1
make[2]: *** 正在等待未完成的任务....
In file included from /usr/local/include/boost/smart_ptr/detail/sp_thread_sleep.hpp:22,
from /usr/local/include/boost/smart_ptr/detail/yield_k.hpp:23,
from /usr/local/include/boost/smart_ptr/detail/spinlock_gcc_atomic.hpp:14,
from /usr/local/include/boost/smart_ptr/detail/spinlock.hpp:42,
from /usr/local/include/boost/smart_ptr/detail/spinlock_pool.hpp:25,
from /usr/local/include/boost/smart_ptr/shared_ptr.hpp:29,
from /usr/local/include/boost/shared_ptr.hpp:17,
from /opt/ros/noetic/include/ros/forwards.h:37,
from /opt/ros/noetic/include/ros/common.h:37,
from /opt/ros/noetic/include/ros/ros.h:43,
from /home/yxx/disk/lidar_imu_calib/src/calibration_camera_lidar-master/ls_calibration/calibration_camera_lidar/nodes/calibration_test/camera_lidar2d_offline_calib.cpp:38:
/usr/local/include/boost/bind.hpp:36:1: note: #pragma message: The practice of declaring the Bind placeholders (_1, _2, ...) in the global namespace is deprecated. Please use <boost/bind/bind.hpp> + using namespace boost::placeholders, or define BOOST_BIND_GLOBAL_PLACEHOLDERS to retain the current behavior.
36 | BOOST_PRAGMA_MESSAGE(
| ^~~~~~~~~~~~~~~~~~~~
/home/yxx/disk/lidar_imu_calib/src/calibration_camera_lidar-master/ls_calibration/calibration_camera_lidar/nodes/calibration_test/camera_lidar2d_offline_calib.cpp: In function ‘void imageCallback(const Image&)’:
/home/yxx/disk/lidar_imu_calib/src/calibration_camera_lidar-master/ls_calibration/calibration_camera_lidar/nodes/calibration_test/camera_lidar2d_offline_calib.cpp:151:9: error: ‘cvFindExtrinsicCameraParams2’ was not declared in this scope
151 | cvFindExtrinsicCameraParams2 (&sub_object_points, &sub_image_points, m_intrinsic, m_dist, v_rotation, v_g2c);
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/yxx/disk/lidar_imu_calib/src/calibration_camera_lidar-master/ls_calibration/calibration_camera_lidar/nodes/calibration_test/camera_lidar2d_offline_calib.cpp:153:9: error: ‘cvRodrigues2’ was not declared in this scope
153 | cvRodrigues2(v_rotation, m_rotation);
| ^~~~~~~~~~~~
make[2]: *** [calibration_camera_lidar-master/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/build.make:141：calibration_camera_lidar-master/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/camera_lidar2d_offline_calib.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:4371：calibration_camera_lidar-master/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/all] 错误 2
make: *** [Makefile:141：all] 错误 2

头文件中已经加了#include <opencv2/calib3d/calib3d.hpp>，但是还有这样的报错，请问是CMakeLists的问题吗？不知道如何修改了

为什么我需要将结果中3*3的旋转矩阵转置一下才可以得到正确的标定结果，感谢大佬回答

[ 96%] Linking CXX executable /home/lyp/calibration/devel/lib/calibration_camera_lidar/calibration_test
/home/lyp/anaconda3/lib/libpng16.so.16：对‘inflateValidate@ZLIB_1.2.9’未定义的引用
collect2: error: ld returned 1 exit status
ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/build.make:525: recipe for target '/home/lyp/calibration/devel/lib/calibration_camera_lidar/calibration_test' failed
make[2]: *** [/home/lyp/calibration/devel/lib/calibration_camera_lidar/calibration_test] Error 1
CMakeFiles/Makefile2:5152: recipe for target 'ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/all' failed
make[1]: *** [ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
[ 97%] Linking CXX executable /home/lyp/calibration/devel/lib/calibration_camera_lidar/calibration_publisher
[ 97%] Built target calibration_publisher
[ 97%] Linking CXX shared library /home/lyp/calibration/devel/lib/libcalibrationtoolkit.so
[ 97%] Built target calibrationtoolkit
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

您好，我在ubuntu18上面安装之后运行rosrun calibration_camera_lidar calibration_toolkit报错：

[rosrun] Couldn't find executable named calibration_toolkit below /home/junz/Documents/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar
[rosrun] Found the following, but they're either not files,
[rosrun] or not executable:
[rosrun] /home/junz/Documents/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_toolkit

请问该怎么解决呢？

(base) hxb@hxb:~/Desktop/HXB_PROJECT/2024-2-8/calib-3/calibration_camera_lidar$ rosrun calibration_camera_lidar calibration_toolkit
[rosrun] Couldn't find executable named calibration_toolkit below /home/hxb/Desktop/HXB_PROJECT/2024-2-8/calib-3/calibration_camera_lidar/src/ls_calibration/calibration_camera_lidar
[rosrun] Found the following, but they're either not files,
[rosrun] or not executable:
[rosrun] /home/hxb/Desktop/HXB_PROJECT/2024-2-8/calib-3/calibration_camera_lidar/src/ls_calibration/calibration_camera_lidar/nodes/calibration_toolkit

编译的时候出现报错，报错内容如下：[ 96%] Built target calibration_publisher
CMakeFiles/calibrationtoolkit.dir/CalibrationToolkit/calibrationtoolkit.cpp.o：在函数‘nlopt::opt::get_errmsg() const’中：
/usr/local/include/nlopt.hpp:500：对‘nlopt_get_errmsg’未定义的引用
/usr/local/include/nlopt.hpp:500：对‘nlopt_get_errmsg’未定义的引用
/usr/local/include/nlopt.hpp:500：对‘nlopt_get_errmsg’未定义的引用
collect2: error: ld returned 1 exit status
ls_calibration/calibration_camera_lidar/CMakeFiles/calibrationtoolkit.dir/build.make:424: recipe for target '/home/tks/calibration/devel/lib/libcalibrationtoolkit.so' failed
make[2]: *** [/home/tks/calibration/devel/lib/libcalibrationtoolkit.so] Error 1
CMakeFiles/Makefile2:5447: recipe for target 'ls_calibration/calibration_camera_lidar/CMakeFiles/calibrationtoolkit.dir/all' failed
make[1]: *** [ls_calibration/calibration_camera_lidar/CMakeFiles/calibrationtoolkit.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

这是因为nlopt没装好吗？但是我重复装了nlopt不同版本很多次了，还是没有解决

我在Ubuntu18.04，ROSmelodic的环境下使用您的标定包，catkin_make环节没有问题，将velodyne_points转换为points_raw播放，在标定窗口中无论怎么调整都没法看到雷达点云，请问我该怎么解决呢

你好，我想问一下autoware的这个标定工具的源码在哪能找到？

[ 96%] Building CXX object calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_toolkit.dir/calibration_toolkit_autogen/mocs_compilation.cpp.o
[ 96%] Building CXX object calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_toolkit.dir/nodes/calibration_toolkit/mainwindow.cpp.o
[ 96%] Building CXX object calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_toolkit.dir/nodes/calibration_toolkit/main.cpp.o
CMakeFiles/calibration_publisher.dir/nodes/calibration_publisher/calibration_publisher.cpp.o: In function cv::internal::VecReaderProxy<int, 1>::operator()(std::vector<int, std::allocator<int> >&, unsigned long) const': /usr/local/include/opencv4/opencv2/core/persistence.hpp:851: undefined reference to cv::FileNodeIterator::remaining() const'
/usr/local/include/opencv4/opencv2/core/persistence.hpp:860: undefined reference to cv::FileNodeIterator::readRaw(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void*, unsigned long)' CMakeFiles/calibration_publisher.dir/nodes/calibration_publisher/calibration_publisher.cpp.o: In function main':
/home/chi/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_publisher/calibration_publisher.cpp:186: undefined reference to cv::FileStorage::FileStorage(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)' CMakeFiles/calibration_publisher.dir/nodes/calibration_publisher/calibration_publisher.cpp.o: In function main':
/usr/local/include/opencv4/opencv2/core/persistence.hpp:734: undefined reference to cv::FileNode::begin() const' /usr/local/include/opencv4/opencv2/core/persistence.hpp:1264: undefined reference to cv::read(cv::FileNode const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator >&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)'
collect2: error: ld returned 1 exit status
calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_publisher.dir/build.make:344: recipe for target '/home/chi/calibration/devel/lib/calibration_camera_lidar/calibration_publisher' failed
make[2]: *** [/home/chi/calibration/devel/lib/calibration_camera_lidar/calibration_publisher] Error 1
CMakeFiles/Makefile2:4277: 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....
/home/chi/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/chessboard.cpp: In function ‘bool findChessboard(IplImage*, int, int, int, CvMat*, int*, CvPoint2D32f*, CvPoint3D32f*)’:
/home/chi/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/chessboard.cpp:50:13: error: ‘cvFindChessboardCorners’ was not declared in this scope
found = cvFindChessboardCorners (image, pattern_size, &corners[0], corner_count);
^~~~~~~~~~~~~~~~~~~~~~~
/home/chi/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/chessboard.cpp:50:13: note: suggested alternative: ‘findChessboard’
found = cvFindChessboardCorners (image, pattern_size, &corners[0], corner_count);
^~~~~~~~~~~~~~~~~~~~~~~
findChessboard
/home/chi/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/chessboard.cpp: In function ‘void drawChessboard(IplImage*, int, int, int, CvPoint2D32f*, CvMat*)’:
/home/chi/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/chessboard.cpp:66:5: error: ‘cvDrawChessboardCorners’ was not declared in this scope
cvDrawChessboardCorners (image, pattern_size, &corners[0], corner_count, 1);
^~~~~~~~~~~~~~~~~~~~~~~
/home/chi/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/chessboard.cpp:66:5: note: suggested alternative: ‘drawChessboard’
cvDrawChessboardCorners (image, pattern_size, &corners[0], corner_count, 1);
^~~~~~~~~~~~~~~~~~~~~~~
drawChessboard
calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/build.make:89: recipe for target 'calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/chessboard.cpp.o' failed
make[2]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/chessboard.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
/home/chi/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/camera_lidar2d_offline_calib.cpp: In function ‘void imageCallback(const Image&)’:
/home/chi/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/camera_lidar2d_offline_calib.cpp:151:9: error: ‘cvFindExtrinsicCameraParams2’ was not declared in this scope
cvFindExtrinsicCameraParams2 (&sub_object_points, &sub_image_points, m_intrinsic, m_dist, v_rotation, v_g2c);
^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/chi/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/camera_lidar2d_offline_calib.cpp:153:9: error: ‘cvRodrigues2’ was not declared in this scope
cvRodrigues2(v_rotation, m_rotation);
^~~~~~~~~~~~
calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/build.make:159: recipe for target 'calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/camera_lidar2d_offline_calib.cpp.o' failed
make[2]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/camera_lidar2d_offline_calib.cpp.o] Error 1
CMakeFiles/Makefile2:4334: recipe for target 'calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/all' failed
make[1]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/all] Error 2
[ 97%] Linking CXX executable /home/chi/calibration/devel/lib/calibration_camera_lidar/calibration_toolkit
[ 97%] Built target calibration_toolkit
Makefile:145: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

[ 95%] Building CXX object calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_toolkit.dir/calibration_toolkit_autogen/mocs_compilation.cpp.o
/home/zzp/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp: In function ‘void plot_vertical_line(IplImage*, int, int, int)’:
/home/zzp/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:42:45: error: ‘CV_RGB’ was not declared in this scope
cvLine(image, line_start, line_end, CV_RGB (120, 120, 120), 1, 8, 0);
^~~~~~
/home/zzp/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:42:45: note: suggested alternative: ‘CV_8U’
cvLine(image, line_start, line_end, CV_RGB (120, 120, 120), 1, 8, 0);
^~~~~~
CV_8U
/home/zzp/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp: In function ‘void plot_horizontal_line(IplImage*, int, int)’:
/home/zzp/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:53:41: error: ‘CV_RGB’ was not declared in this scope
cvLine(image, line_start, line_end, CV_RGB (120, 120, 120), 1, 8, 0);
^~~~~~
/home/zzp/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:53:41: note: suggested alternative: ‘CV_8U’
cvLine(image, line_start, line_end, CV_RGB (120, 120, 120), 1, 8, 0);
^~~~~~
CV_8U
/home/zzp/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp: In function ‘void plot_center_pt_line(IplImage*, CvPoint, int, int, int, int, int, int)’:
/home/zzp/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:64:41: error: ‘CV_RGB’ was not declared in this scope
cvLine(image, line_start, line_end, CV_RGB (255, 255, 0), 1, 8, 0);
^~~~~~
/home/zzp/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:64:41: note: suggested alternative: ‘CV_8U’
cvLine(image, line_start, line_end, CV_RGB (255, 255, 0), 1, 8, 0);
^~~~~~
CV_8U
/home/zzp/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp: In function ‘void plot_string_on_buttun(IplImage*, const char*, int, int, int, bool)’:
/home/zzp/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:104:51: error: ‘CV_RGB’ was not declared in this scope
plot_string(image, text, thickness, x, y, CV_RGB(250, 250, 250));
^~~~~~
/home/zzp/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:104:51: note: suggested alternative: ‘CV_8U’
plot_string(image, text, thickness, x, y, CV_RGB(250, 250, 250));
^~~~~~
CV_8U
/home/zzp/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:106:51: error: ‘CV_RGB’ was not declared in this scope
plot_string(image, text, thickness, x, y, CV_RGB(150, 150, 150));
^~~~~~
/home/zzp/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:106:51: note: suggested alternative: ‘CV_8U’
plot_string(image, text, thickness, x, y, CV_RGB(150, 150, 150));
^~~~~~
CV_8U
/home/zzp/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp: In function ‘void plot_scan_image(IplImage*, Two_dimensional_vector*)’:
/home/zzp/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:128:32: error: ‘CV_RGB’ was not declared in this scope
cvCircle(image, pt, 2, CV_RGB (0, 255, 0), CV_FILLED, 8, 0);
^~~~~~
/home/zzp/calibration/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:128:32: note: suggested alternative: ‘CV_8U’
cvCircle(image, pt, 2, CV_RGB (0, 255, 0), CV_FILLED, 8, 0);
^~~~~~
CV_8U
calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/build.make:117: recipe for target 'calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/scan_window.cpp.o' failed
make[2]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/scan_window.cpp.o] Error 1
CMakeFiles/Makefile2:4334: recipe for target 'calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/all' failed
make[1]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
[ 96%] Linking CXX executable /home/zzp/calibration/devel/lib/calibration_camera_lidar/calibration_toolkit
/usr/bin/ld: warning: libopencv_core.so.3.4, needed by /usr/local/lib/libopencv_calib3d.so.3.4.5, may conflict with libopencv_core.so.3.2
[ 96%] Built target calibration_toolkit
Makefile:145: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j16 -l16" failed

When running catkin_make, the following error occurred, it seems that jsk_recognition_msgs should be installed. For melodic, we can use apt to install the package. But I use Ubuntu 20.04 & ros-neotic, do you know how to install jsk_recognition_msgs package ? Thank you!

CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by
"jsk_recognition_msgs" with any of the following names:

jsk_recognition_msgsConfig.cmake
jsk_recognition_msgs-config.cmake

我之前在Ubuntu18上成功安装过这个工具箱，但是在20.04上编译出现很多错误，各位大佬请问在20上安装有什么需要修改的地方吗，比如opencv、pcl版本要求等等，我报了很多有关pcl的错误。

/usr/include/pcl-1.10/pcl/point_representation.h:308:7:   required from here
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: error: the value of ‘NrDims’ is not usable in a constant expression
/usr/include/pcl-1.10/pcl/point_representation.h:251:19: note: ‘NrDims’ was not initialized with a constant expression
  251 |         const int NrDims = pcl::traits::datatype<PointDefault, Key>::size;
      |                   ^~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: note: in template argument for type ‘int’
  252 |         Helper<Key, FieldT, NrDims>::copyPoint (p1_, p2_, f_idx_);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h: In instantiation of ‘void pcl::DefaultFeatureRepresentation<PointDefault>::NdCopyPointFunctor::operator()() [with Key = pcl::fields::f4; PointDefault = pcl::PPFSignature]’:
/usr/include/pcl-1.10/pcl/for_each_type.h:87:51:   recursively required from ‘static void pcl::for_each_type_impl<false>::execute(F) [with Iterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 1>; LastIterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 5>; F = pcl::DefaultFeatureRepresentation<pcl::PPFSignature>::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/for_each_type.h:87:51:   required from ‘static void pcl::for_each_type_impl<false>::execute(F) [with Iterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 0>; LastIterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 5>; F = pcl::DefaultFeatureRepresentation<pcl::PPFSignature>::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/for_each_type.h:98:92:   required from ‘void pcl::for_each_type(F) [with Sequence = boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>; F = pcl::DefaultFeatureRepresentation<pcl::PPFSignature>::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/point_representation.h:310:40:   required from ‘void pcl::DefaultFeatureRepresentation<PointDefault>::copyToFloatArray(const PointDefault&, float*) const [with PointDefault = pcl::PPFSignature]’
/usr/include/pcl-1.10/pcl/point_representation.h:308:7:   required from here
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: error: the value of ‘NrDims’ is not usable in a constant expression
/usr/include/pcl-1.10/pcl/point_representation.h:251:19: note: ‘NrDims’ was not initialized with a constant expression
  251 |         const int NrDims = pcl::traits::datatype<PointDefault, Key>::size;
      |                   ^~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: note: in template argument for type ‘int’
  252 |         Helper<Key, FieldT, NrDims>::copyPoint (p1_, p2_, f_idx_);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h: In instantiation of ‘void pcl::DefaultFeatureRepresentation<PointDefault>::NdCopyPointFunctor::operator()() [with Key = pcl::fields::alpha_m; PointDefault = pcl::PPFSignature]’:
/usr/include/pcl-1.10/pcl/for_each_type.h:87:51:   recursively required from ‘static void pcl::for_each_type_impl<false>::execute(F) [with Iterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 1>; LastIterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 5>; F = pcl::DefaultFeatureRepresentation<pcl::PPFSignature>::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/for_each_type.h:87:51:   required from ‘static void pcl::for_each_type_impl<false>::execute(F) [with Iterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 0>; LastIterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 5>; F = pcl::DefaultFeatureRepresentation<pcl::PPFSignature>::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/for_each_type.h:98:92:   required from ‘void pcl::for_each_type(F) [with Sequence = boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>; F = pcl::DefaultFeatureRepresentation<pcl::PPFSignature>::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/point_representation.h:310:40:   required from ‘void pcl::DefaultFeatureRepresentation<PointDefault>::copyToFloatArray(const PointDefault&, float*) const [with PointDefault = pcl::PPFSignature]’
/usr/include/pcl-1.10/pcl/point_representation.h:308:7:   required from here
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: error: the value of ‘NrDims’ is not usable in a constant expression
/usr/include/pcl-1.10/pcl/point_representation.h:251:19: note: ‘NrDims’ was not initialized with a constant expression
  251 |         const int NrDims = pcl::traits::datatype<PointDefault, Key>::size;
      |                   ^~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: note: in template argument for type ‘int’
  252 |         Helper<Key, FieldT, NrDims>::copyPoint (p1_, p2_, f_idx_);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~
make[2]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibrationtoolkit.dir/build.make:76：calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibrationtoolkit.dir/CalibrationToolkit/calibrationtoolkit.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:5278：calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibrationtoolkit.dir/all] 错误 2
make: *** [Makefile:141：all] 错误 2
Invoking "make -j20 -l20" failed

点击 Grab 截取图像 没反应 下边没图像
请问这是什么原因？

请问这个安装包是使用什么版本的opencv安装的？
我使用opencv3.4.6编译错误。
[100%] Building CXX object ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_publisher.dir/nodes/calibration_publisher/calibration_publisher.cpp.o
[100%] Linking CXX executable /media/4T/zhongxiang/PCLDemo/Autoware/catkin_sync_ws/devel/lib/calibration_camera_lidar/calibration_publisher
CMakeFiles/calibration_publisher.dir/nodes/calibration_publisher/calibration_publisher.cpp.o：在函数‘main’中：
/usr/local/opencv3.4.6/include/opencv2/core/cvstd.inl.hpp:150：对‘cv::read(cv::FileNode const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator >&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)’未定义的引用
collect2: error: ld returned 1 exit status
ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_publisher.dir/build.make:330: recipe for target '/media/4T/zhongxiang/PCLDemo/Autoware/catkin_sync_ws/devel/lib/calibration_camera_lidar/calibration_publisher' failed
make[2]: *** [/media/4T/zhongxiang/PCLDemo/Autoware/catkin_sync_ws/devel/lib/calibration_camera_lidar/calibration_publisher] Error 1
CMakeFiles/Makefile2:5311: recipe for target 'ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_publisher.dir/all' failed
make[1]: *** [ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_publisher.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j32 -l32" failed

请问您这个包能用于3D激光雷达与相机标定吗？谢谢！！！

您好，我在使用该标定工具时，首先load导入了自己标定的相机内参参数文件××.yml，然后grab抓取几帧图像和点云，随后点击calibrate时，界面直接闪退，终端显示“segmentation fault”的错误，请问您有遇到这种问题吗？应该怎么解决？（###需要注意的是，如果我不导入参数文件.yml，而是直接使用工具箱标定，就不会出现该问题###）

I found that the chessboard pattern provided in ./data folder is 889 × 1118 mm, but in this blog https://blog.csdn.net/m0_38087936/article/details/88855911, they say the chessboard is A0 (841 x 1189mm) 9*7.

周末好！ 还有一事请教 请问标定板要求是 A0 尺寸的硬纸板(841 1189mm) 9行7列的吗？ 为了保证精度 用什么材料做比较好？木板和PVC板都可以吧 祝您有个愉快的周末！谢谢您

ubuntu18.04

there is nothong when i click Grab,and

• messege:
• rd-2@rd2-Precision-3551:~/Documents/SLAMTools/calib_cam_lidar$ rosrun calibration_camera_lidar calibration_toolkit
  Gtk-Message: 17:35:12.046: GtkDialog mapped without a transient parent. This is discouraged.

how to solve it?

使用ros melodic版本，在anaconda3环境中运行，opencv本地和conda中都是3.4.16。运行程序，grab好之后，一点击calibrate就强行退出，报出如下错误：
OpenCV Error: Assertion failed (isIdentity(expr)) in _InputArray, file /home/XXX/Music/opencv-3.4.16/modules/core/src/matrix_expressions.cpp, line 1843
terminate called after throwing an instance of 'cv::Exception'
what(): /home/XXX/Music/opencv-3.4.16/modules/core/src/matrix_expressions.cpp:1843: error: (-215) isIdentity(expr) in function _InputArray。

请问要怎么解决啊

编译出错
[ 93%] Building CXX object calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/common_2d_calib.cpp.o
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp: In function ‘void plot_vertical_line(IplImage*, int, int, int)’:
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:42:45: error: ‘CV_RGB’ was not declared in this scope
cvLine(image, line_start, line_end, CV_RGB (120, 120, 120), 1, 8, 0);
^~~~~~
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:42:45: note: suggested alternative: ‘CV_8U’
cvLine(image, line_start, line_end, CV_RGB (120, 120, 120), 1, 8, 0);
^~~~~~
CV_8U
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp: In function ‘void plot_horizontal_line(IplImage*, int, int)’:
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:53:41: error: ‘CV_RGB’ was not declared in this scope
cvLine(image, line_start, line_end, CV_RGB (120, 120, 120), 1, 8, 0);
^~~~~~
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:53:41: note: suggested alternative: ‘CV_8U’
cvLine(image, line_start, line_end, CV_RGB (120, 120, 120), 1, 8, 0);
^~~~~~
CV_8U
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp: In function ‘void plot_center_pt_line(IplImage*, CvPoint, int, int, int, int, int, int)’:
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:64:41: error: ‘CV_RGB’ was not declared in this scope
cvLine(image, line_start, line_end, CV_RGB (255, 255, 0), 1, 8, 0);
^~~~~~
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:64:41: note: suggested alternative: ‘CV_8U’
cvLine(image, line_start, line_end, CV_RGB (255, 255, 0), 1, 8, 0);
^~~~~~
CV_8U
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp: In function ‘void plot_string_on_buttun(IplImage*, const char*, int, int, int, bool)’:
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:104:51: error: ‘CV_RGB’ was not declared in this scope
plot_string(image, text, thickness, x, y, CV_RGB(250, 250, 250));
^~~~~~
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:104:51: note: suggested alternative: ‘CV_8U’
plot_string(image, text, thickness, x, y, CV_RGB(250, 250, 250));
^~~~~~
CV_8U
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:106:51: error: ‘CV_RGB’ was not declared in this scope
plot_string(image, text, thickness, x, y, CV_RGB(150, 150, 150));
^~~~~~
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:106:51: note: suggested alternative: ‘CV_8U’
plot_string(image, text, thickness, x, y, CV_RGB(150, 150, 150));
^~~~~~
CV_8U
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp: In function ‘void plot_scan_image(IplImage*, Two_dimensional_vector*)’:
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:128:32: error: ‘CV_RGB’ was not declared in this scope
cvCircle(image, pt, 2, CV_RGB (0, 255, 0), CV_FILLED, 8, 0);
^~~~~~
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:128:32: note: suggested alternative: ‘CV_8U’
cvCircle(image, pt, 2, CV_RGB (0, 255, 0), CV_FILLED, 8, 0);
^~~~~~
CV_8U
calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/build.make:110: recipe for target 'calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/scan_window.cpp.o' failed
make[2]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/scan_window.cpp.o] Error 1
make[2]: *** 正在等待未完成的任务....
CMakeFiles/Makefile2:5873: recipe for target 'calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/all' failed
make[1]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
[ 93%] Built target calibrationtoolkit_autogen
[ 94%] Linking CXX executable /home/shangwei/autoware.ai/src/calibration_camera_lidar/devel/lib/calibration_camera_lidar/calibration_publisher
CMakeFiles/calibration_publisher.dir/nodes/calibration_publisher/calibration_publisher.cpp.o：在函数‘main’中：
/usr/local/include/opencv2/core/cvstd.inl.hpp:150：对‘cv::read(cv::FileNode const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator >&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)’未定义的引用
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/shangwei/autoware.ai/src/calibration_camera_lidar/devel/lib/calibration_camera_lidar/calibration_publisher' failed
make[2]: *** [/home/shangwei/autoware.ai/src/calibration_camera_lidar/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
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

按提示修改，继续报错
[ 93%] Building CXX object calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/scan_window.cpp.o
CMakeFiles/calibration_publisher.dir/nodes/calibration_publisher/calibration_publisher.cpp.o：在函数‘main’中：
/usr/local/include/opencv2/core/cvstd.inl.hpp:150：对‘cv::read(cv::FileNode const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator >&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)’未定义的引用
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/shangwei/autoware.ai/src/calibration_camera_lidar/devel/lib/calibration_camera_lidar/calibration_publisher' failed
make[2]: *** [/home/shangwei/autoware.ai/src/calibration_camera_lidar/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]: *** 正在等待未完成的任务....
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp: In function ‘void plot_vertical_line(IplImage*, int, int, int)’:
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:42:64: error: expression cannot be used as a function
cvLine(image, line_start, line_end, CV_8U(120, 120, 120), 1, 8, 0);
^
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp: In function ‘void plot_horizontal_line(IplImage*, int, int)’:
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:53:60: error: expression cannot be used as a function
cvLine(image, line_start, line_end, CV_8U(120, 120, 120), 1, 8, 0);
^
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp: In function ‘void plot_center_pt_line(IplImage*, CvPoint, int, int, int, int, int, int)’:
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:64:58: error: expression cannot be used as a function
cvLine(image, line_start, line_end, CV_8U(255, 255, 0), 1, 8, 0);
^
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:72:58: error: expression cannot be used as a function
cvLine(image, line_start, line_end, CV_8U(255, 255, 0), 1, 8, 0);
^
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:78:58: error: expression cannot be used as a function
cvLine(image, line_start, line_end, CV_8U(255, 255, 0), 1, 8, 0);
^
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp: In function ‘void plot_string_on_buttun(IplImage*, const char*, int, int, int, bool)’:
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:104:70: error: expression cannot be used as a function
plot_string(image, text, thickness, x, y, CV_8U(250, 250, 250));
^
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:106:70: error: expression cannot be used as a function
plot_string(image, text, thickness, x, y, CV_8U(150, 150, 150));
^
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp: In function ‘void plot_scan_image(IplImage*, Two_dimensional_vector*)’:
/home/shangwei/autoware.ai/src/calibration_camera_lidar/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_test/scan_window.cpp:128:47: error: expression cannot be used as a function
cvCircle(image, pt, 2, CV_8U(0, 255, 0), CV_FILLED, 8, 0);
^
calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/build.make:110: recipe for target 'calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/scan_window.cpp.o' failed
make[2]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/nodes/calibration_test/scan_window.cpp.o] Error 1
CMakeFiles/Makefile2:5873: recipe for target 'calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/all' failed
make[1]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_test.dir/all] Error 2
CMakeFiles/calibrationtoolkit.dir/CalibrationToolkit/calibrationtoolkit.cpp.o：在函数‘nlopt::opt::mythrow(nlopt_result) const’中：
/usr/local/include/nlopt.hpp:517：对‘nlopt_get_errmsg’未定义的引用
/usr/local/include/nlopt.hpp:517：对‘nlopt_get_errmsg’未定义的引用
/usr/local/include/nlopt.hpp:517：对‘nlopt_get_errmsg’未定义的引用
/usr/local/include/nlopt.hpp:517：对‘nlopt_get_errmsg’未定义的引用
collect2: error: ld returned 1 exit status
calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibrationtoolkit.dir/build.make:396: recipe for target '/home/shangwei/autoware.ai/src/calibration_camera_lidar/devel/lib/libcalibrationtoolkit.so' failed
make[2]: *** [/home/shangwei/autoware.ai/src/calibration_camera_lidar/devel/lib/libcalibrationtoolkit.so] Error 1
CMakeFiles/Makefile2:5770: recipe for target 'calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibrationtoolkit.dir/all' failed
make[1]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibrationtoolkit.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

你好，想问一下我用你的程序进行标定的时候遇到了下图的情况：没有办法选中chessboard对应的平面。是因为我Lidar用的16线，过于稀疏导致选不中吗？但是我之前用原版autoware的时候是可以选中的，原版autoware我是在实验室的Ubuntu 16.04电脑上装的，你的程序是在我自己电脑ubuntu 18.04上装的。或者说有办法让这个圈变大一点吗？

CMakeFiles/calibrationtoolkit.dir/CalibrationToolkit/calibrationtoolkit.cpp.o: In function nlopt::opt::get_errmsg() const': /usr/local/include/nlopt.hpp:516: undefined reference to nlopt_get_errmsg'
/usr/local/include/nlopt.hpp:516: undefined reference to nlopt_get_errmsg' /usr/local/include/nlopt.hpp:516: undefined reference to nlopt_get_errmsg'
collect2: error: ld returned 1 exit status
calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibrationtoolkit.dir/build.make:425: recipe for target '/home/lee/calibration/devel/lib/libcalibrationtoolkit.so' failed
make[2]: *** [/home/lee/calibration/devel/lib/libcalibrationtoolkit.so] Error 1
CMakeFiles/Makefile2:5447: recipe for target 'calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibrationtoolkit.dir/all' failed
make[1]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibrationtoolkit.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j48 -l48" failed

我已经安装了nlopt，安装位置在根目录下，报了这个错该如何解决呢？难道是因为nlopt要安装在包的目录下吗？