使用autoware中的标定工具包进行相机和激光雷达联合标定

链接: 如何使用Autoware标定工具包进行相机和激光雷达的联合标定（无需完整安装Autoware）

一、工具安装

1.catkin_make(Could not find the required component ‘jsk_recognition_msgs’. )

-- Could NOT find jsk_recognition_msgs (missing: jsk_recognition_msgs_DIR)
-- Could not find the required component 'jsk_recognition_msgs'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
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

  Add the installation prefix of "jsk_recognition_msgs" to CMAKE_PREFIX_PATH
  or set "jsk_recognition_msgs_DIR" to a directory containing one of the
  above files.  If "jsk_recognition_msgs" provides a separate development
  package or SDK, be sure it has been installed.

解决办法，安装jsk_recognition_msgs

sudo apt-get install ros-noetic-jsk-recognition-msgs

2. catkin_make(undefined reference to `cv::Mat::Mat()')

/usr/bin/ld: CMakeFiles/calibration_publisher.dir/nodes/calibration_publisher/calibration_publisher.cpp.o: in function `void cv::operator>><cv::Mat>(cv::FileNode const&, cv::Mat&)':
/usr/local/opencv4/include/opencv4/opencv2/core/persistence.hpp:1281: undefined reference to `cv::Mat::Mat()'
/usr/bin/ld: CMakeFiles/calibration_publisher.dir/nodes/calibration_publisher/calibration_publisher.cpp.o: in function `_GLOBAL__sub_I_calibration_publisher.cpp':
/home/chen/桌面/Project/CL_calibration_ws/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_publisher/calibration_publisher.cpp:10: undefined reference to `cv::Mat::Mat()'
/usr/bin/ld: CMakeFiles/calibration_publisher.dir/nodes/calibration_publisher/calibration_publisher.cpp.o: in function `__static_initialization_and_destruction_0':
/home/chen/桌面/Project/CL_calibration_ws/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_publisher/calibration_publisher.cpp:11: undefined reference to `cv::Mat::Mat()'
/usr/bin/ld: /home/chen/桌面/Project/CL_calibration_ws/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_publisher/calibration_publisher.cpp:12: undefined reference to `cv::Mat::Mat()'
collect2: error: ld returned 1 exit status
make[2]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_publisher.dir/build.make:296：/home/chen/桌面/Project/CL_calibration_ws/devel/lib/calibration_camera_lidar/calibration_publisher] 错误 1
make[1]: *** [CMakeFiles/Makefile2:5174：calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_publisher.dir/all] 错误 2
make: *** [Makefile:161：all] 错误 2
Invoking "make -j16 -l16" failed

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

在 target_link_libraries(calibration_publisher	${catkin_LIBRARIES} 后面添加
${OpenCV_LIBS} #added 
# 注意opencv大小写

编译成功

3. rosrun calibration_camera_lidar（Couldn’t find executable named calibration_toolkit below /home/chen/桌面/Project/CL_calibration_ws/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar）

[rosrun] Couldn't find executable named calibration_toolkit below /home/chen/桌面/Project/CL_calibration_ws/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/chen/桌面/Project/CL_calibration_ws/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar/nodes/calibration_toolkit

参考链接：https://github.com/XidianLemon/calibration_camera_lidar/issues/7

4、重新编译（没有那个文件或目录）

参考：https://blog.csdn.net/yuteng12138/article/details/105204292

1、fatal error: opencv/cv.h: 没有那个文件或目录
将各文件中的 #include <opencv/cv.h>
替换为
#include <opencv2/imgproc.hpp>

2、fatal error: opencv/highgui.h: 没有那个文件或目录
将 #include <opencv/highgui.h>
替换成
#include "opencv2/highgui.hpp"

3、fatal error: opencv/cxcore.h: 没有那个文件或目录
将#include <opencv/cxcore.h>
替换成
#include <opencv2/core/core.hpp>
//在 OpenCV 4 中，cxcore.h 文件已被移除,可以使用opencv2/core.hpp或opencv2/core/types.hpp替代

5、重新编译，出现大片错误（PCL）

/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_);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~

参考：https://github.com/XidianLemon/calibration_camera_lidar/issues/28

# 原因分析
pcl1.10需要用更高级别的C++编译
# 解决过程
dpkg -l libpcl-dev    #查看pcl版本
在cmakelist.txt文件中添加
set(CMAKE_CXX_STANDARD 14)
# 具体文件：
CL_calibration_ws/src/calibration_camera_lidar/ls_calibration/calibration_camera_lidar
CL_calibration_ws/src/calibration_camera_lidar/ls_calibration/glviewer
CL_calibration_ws/src/calibration_camera_lidar/ls_calibration/rosinterface

6、重新编译（Opencv版本问题）

参考：
https://blog.csdn.net/Toky_min/article/details/107107708
https://blog.csdn.net/weixin_44235615/article/details/125803414
https://blog.csdn.net/libaineu2004/article/details/104454933

问题

‘IplImage’ was not declared in this scope
//在OpenCV 4及更高版本中，IplImage结构已被弃用，取而代之的是cv:：Mat类作为主映像容器。
‘CvMat’ does not name a type
//在OpenCV 4及更高版本中，CvMat结构已被更通用的cv:：Mat类取代
。。。

解决办法，在报错文件中添加

#include <opencv2/core.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/imgproc/types_c.h>
#include <opencv2/imgproc/imgproc_c.h>
#include <opencv2/highgui/highgui_c.h>

7、重新编译（camera_lidar2d_offline_calib余下问题）

1. error: conversion from ‘cv::Mat’ to non-scalar type ‘IplImage’ {aka ‘_IplImage’} requested
//https://blog.csdn.net/weixin_44694952/article/details/109221487
//camera_lidar2d_offline_calib.cpp:132行
IplImage temp = cv_image->image;————》IplImage temp = cvIplImage(cv_image->image);

2.error: ‘cvFindExtrinsicCameraParams2’ was not declared in this scope


3. error: ‘cvRodrigues2’ was not declared in this scope
//In OpenCV 4 and later versions, the function cvRodrigues2 has been replaced with the cv::Rodrigues function for computing the Rodrigues rotation matrix.
//camera_lidar2d_offline_calib.cpp:161行
cvRodrigues2(v_rotation, m_rotation);————》cv::Rodrigues(v_rotation, m_rotation)

4. error: could not convert ‘cv::Scalar_<double>((double)0, (double)0, (double)255, (double)0)’ from ‘cv::Scalar’ {aka ‘cv::Scalar_<double>’} to ‘CvScalar’

需要修改的问题过多，重新安装opencv3

8、安装opencv3

链接: ubuntu20.04下多版本opencv共存和切换

安装完成后重新下载项目，将修改过的cmakelist文件复制过来
指定cmake时opencv版本，仍然报错

安装对应的cv_bridge

https://zhuanlan.zhihu.com/p/617289094

sudo make installed 报错 error: option --install-layout not recognized
参考：https://blog.csdn.net/qq_17130909/article/details/97933582

cmake ..  -DCMAKE_BUILD_TYPE=Release -DSETUPTOOLS_DEB_LAYOUT=OFF .
make
sudo make installed

在工程cmakelist文件中添加
set(cv_bridge_DIR "/home/chen/下载/opencv3.4.5/vision_opencv-melodic/installed/usr/local/share/cv_bridge/cmake")
Set(OpenCV_DIR "/home/chen/下载/opencv3.4.5/opencv-3.4.5/installed/share/OpenCV") 
Set(OpenCV_INCLUDE_DIRS "/home/chen/下载/opencv3.4.5/opencv-3.4.5/installed/include")
Set(OpenCV_LIBRARIES "/home/chen/下载/opencv3.4.5/opencv-3.4.5/installed")

9、重新编译（error: ‘CV_RGB’ was not declared in this scope; did you mean ‘CV_YUV2RGB’?）

对应.h文件添加头文件：#include <opencv2/imgproc.hpp>

10、重新编译（undefined reference to `std::__exception_ptr::exception_ptr::_M_release()@CXXABI_1.3.13’

）

/usr/bin/ld: /home/chen/anaconda3/lib/libQt5Core.so.5.15.2: undefined reference to `std::__exception_ptr::exception_ptr::_M_release()@CXXABI_1.3.13'
/usr/bin/ld: /home/chen/anaconda3/lib/libQt5Widgets.so.5.15.2: undefined reference to `std::__throw_bad_array_new_length()@GLIBCXX_3.4.29'
/usr/bin/ld: /home/chen/anaconda3/lib/libQt5Core.so.5.15.2: undefined reference to `std::__exception_ptr::exception_ptr::_M_addref()@CXXABI_1.3.13'
collect2: error: ld returned 1 exit status
make[2]: *** [calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_toolkit.dir/build.make:451：/home/chen/桌面/Project/CL_calibration_ws/devel/lib/calibration_camera_lidar/calibration_toolkit] 错误 1
make[1]: *** [CMakeFiles/Makefile2:4362：calibration_camera_lidar/ls_calibration/calibration_camera_lidar/CMakeFiles/calibration_toolkit.dir/all] 错误 2
make: *** [Makefile:161：all] 错误 2

原因：anaconda中的qt5与系统中安装的qt5冲突。查找了很多办法，无法完全解决。
一个一次性办法：

在涉及到QT的CMakeLists文件中，在find QT包前添加
SET(CMAKE_PREFIX_PATH "/usr/lib/x86_64-linux-gnu/cmake")

重新编译，终于完成

二、录制包

1、流程

1.运行对应节点文件
roscore
//激光雷达
roslaunch innovusion_pointcloud innovusion_points.launch device_ip:=192.168.0.10 port:=8010 processed:=1
//相机
cd ~/桌面/Project/rtsp_ws
roslaunch rocon_rtsp_camera_relay rtsp_camera_relay.launch --screen

2.录制包
在存放录制数据的文件夹下
rosbag record -O 自己命令.bag /rtsp_camera_relay/image/compressed  /iv_points

2、注意事项

  1. 标定板位置要求参考前文链接
  2. 录制时最好录制压缩后的图像数据
  • 开始使用 rosbag record -a 图像卡顿、花屏
  • 指定图像和点云节点 rosbag record -O 001.bag /rtsp_camera_relay/image /iv_points
    • 警告：rosbag record buffer exceeded. Dropping oldest queued message
  • 参考https://blog.csdn.net/lemonxiaoxiao/article/details/113357811，解决

三、回放、标定

1、回放点云数据

rosrun image_transport republish compressed in:=/rtsp_camera_relay/image raw out:=/rtsp_camera_relay/image
// 从压缩后的图像数据还原原始数据
rosbag play data.bag  /iv_points:=/points_raw --pause -l  //暂停播放留时间打开软件

2、标定

（1）准备工作

打开工具包

rosrun calibration_camera_lidar calibration_toolkit

报错

[ERROR] [1684421099.331560215]: Client [/calibration_toolkit] wants topic /rtsp_camera_relay/image/compressed to have datatype/md5sum [sensor_msgs/Image/060021388200f6f0f447d0fcd9c64743], but our version has [sensor_msgs/CompressedImage/8f7a12909da2c9d3332d540a0977563f]. Dropping connection.

猜测原因：
工具需要接收image类型的数据，但是由于图像数据太大，之前录制的时候选择的是CompressedImage
参考链接解决：https://blog.csdn.net/lemonxiaoxiao/article/details/119637749

将下图四个参数改为自己标定板的数据，关闭软件保存配置
在这里插入图片描述

（2）标定

按照https://blog.csdn.net/zbr794866300/article/details/107144682进行
最终保存的文件
借鉴大佬结果：https://blog.csdn.net/nuo112/article/details/116404760

四、查看融合结果

1、安装autoware

基本参考：https://blog.csdn.net/qq_21692851/article/details/128909367

2、查看融合结果

  1. 将数据文件夹挂载在容器内
    将run.sh最后一段修改为下图所示
#docker run \
#    -it --rm \
docker run \
    -it -v /home/chen/桌面/Project:/home/autoware/data \
    $VOLUMES \
    --env="XAUTHORITY=${XAUTH}" \
    --env="DISPLAY=${DISPLAY}" \
    --env="USER_ID=$USER_ID" \
    --privileged \
    --net=host \
    $RUNTIME \
    $IMAGE
  1. 进入容器
// 1. 进入容器,并启动程序
cd autoware_ai_docker/generic
./run.sh
cd ~/Autoware
roslaunch runtime_manager runtime_manager.launch

// 2.播放数据包
sudo docker ps -a  //查看容器id
sudo docker exec -it 005d30c2f918 /bin/bash  //在新终端进入容器
cd ~
source /opt/ros/melodic/setup.bash  //加载ROS
rosrun image_transport republish compressed in:=/rtsp_camera_relay/image raw out:=/rtsp_camera_relay/image  //将压缩节点转为原始节点

//在另一终端进入容器，并播放数据包
cd /home/autoware/data/Result/data
rosbag play data.bag  /iv_points:=/points_raw --pause -l
  1. 可视化操作

參考如下链接进行：
https://blog.csdn.net/weixin_43687753/article/details/127227686
https://blog.csdn.net/nuo112/article/details/116404760

注意将image话题来源替换成自己录制的包中的图像话题，比如我的就是/rtsp_camera_relay/image。
在这里插入图片描述

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