编译lidar2camera\manual_calib报错问题及解决方法

[zhjr2019]

（1）报错：add_library cannot create imported target "JsonCpp::JsonCpp" because another target with the same name already exists.
解决方法：如果通过sudo apt install libjsoncpp-dev安装的JsonCPP，修改/usr/lib/x86_64-linux-gnu/cmake/jsoncpp/jsoncpp-namespaced-targets.cmake，增加 AND NOT TARGET JsonCpp::JsonCpp
修改后jsoncpp-namespaced-targets.cmake如下

if (TARGET jsoncpp_static AND NOT TARGET JsonCpp::JsonCpp)
    add_library(JsonCpp::JsonCpp INTERFACE IMPORTED)
    set_target_properties(JsonCpp::JsonCpp PROPERTIES INTERFACE_LINK_LIBRARIES "jsoncpp_static")
elseif (TARGET jsoncpp_lib AND NOT TARGET JsonCpp::JsonCpp)
    add_library(JsonCpp::JsonCpp INTERFACE IMPORTED)
    set_target_properties(JsonCpp::JsonCpp PROPERTIES INTERFACE_LINK_LIBRARIES "jsoncpp_lib")
endif ()

（2）报错：cc1plus: error: too many filenames given; type ‘cc1plus --help’ for usage
解决方法：将CMakeLists.txt中的set(CMAKE_CXX_FLAGS "-g3 -o -Wall")修改为set(CMAKE_CXX_FLAGS "-g -O3 -Wall")

修改完后的CMakeLists.txt如下：

cmake_minimum_required(VERSION 2.8.3)
project(lidar2camera)
set(CMAKE_CXX_FLAGS "-g -O3 -Wall")  # set(CMAKE_CXX_FLAGS "-g3 -o -Wall")
set(CMAKE_CXX_STANDARD 17)

find_package(Pangolin REQUIRED)  # 已安装 0.5 版，故注释掉find_package(Pangolin 0.8 REQUIRED)
include_directories(${Pangolin_INCLUDE_DIRS})
link_directories(${Pangolin_LIBRARY_DIRS})

find_package(PCL REQUIRED)  # 已安装 1.13.1 版，故注释掉find_package(PCL 1.9 EXACT REQUIRED)
find_package(Boost REQUIRED system)
find_package(OpenCV REQUIRED)
find_package(jsoncpp REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
include_directories(${OpenCV_INCLUDE_DIRS})
include_directories(${EIGEN_ROOT})
include_directories(${PROJECT_SOURCE_DIR}/include)
include_directories(${PROJECT_SOURCE_DIR}/src)

link_directories(${OpenCV_LIBRARY_DIRS})

set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)

add_executable(run_lidar2camera src/run_lidar2camera.cpp)
target_link_libraries(run_lidar2camera jsoncpp_lib ${PCL_LIBRARIES} ${Pangolin_LIBRARIES} ${OpenCV_LIBS} ${Boost_SYSTEM_LIBRARY})

编译成功：
zhjr@Karon:/mnt/c/Users/zhjr/zhjrProjects/SensorsCalibration/lidar2camera/manual_calib$ cmake -S . -B build
CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
Compatibility with CMake < 2.8.12 will be removed from a future version of
CMake.

Update the VERSION argument value or use a ... suffix to tell
CMake that the project does not need compatibility with older versions.

-- The C compiler identification is GNU 11.4.0
-- The CXX compiler identification is GNU 11.4.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
CMake Warning (dev) at CMakeLists.txt:10 (find_package):
Ignoring EXACT since no version is requested.
This warning is for project developers. Use -Wno-dev to suppress it.

-- Checking for module 'eigen3'
-- Found eigen3, version 3.4.0
-- Found Eigen: /usr/include/eigen3 (Required is at least version "3.1")
-- Eigen found (include: /usr/include/eigen3, version: 3.4.0)
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.74.0/BoostConfig.cmake (found suitable version "1.74.0", minimum required is "1.65.0") found components: system filesystem date_time iostreams serialization
-- Checking for module 'flann'
-- Found flann, version 1.9.1
-- Found FLANN: /usr/lib/x86_64-linux-gnu/libflann_cpp.so
-- FLANN found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libflann_cpp.so)
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
-- Found Threads: TRUE
-- Found GLEW: /usr/lib/x86_64-linux-gnu/libGLEW.so
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so found components: OpenGL GLX
-- Found MPI_C: /usr/lib/x86_64-linux-gnu/libmpi.so (found version "3.1")
-- Found MPI: TRUE (found version "3.1") found components: C
-- Found JsonCpp: /usr/lib/x86_64-linux-gnu/libjsoncpp.so (found suitable version "1.9.5", minimum required is "0.7.0")
-- Found ZLIB: /usr/lib/x86_64-linux-gnu/libz.so (found version "1.2.11")
-- Found PNG: /usr/lib/x86_64-linux-gnu/libpng.so (found version "1.6.37")
-- Found Eigen3: /usr/include/eigen3 (found version "3.4.0")
-- Found X11: /usr/include
-- Looking for XOpenDisplay in /usr/lib/x86_64-linux-gnu/libX11.so;/usr/lib/x86_64-linux-gnu/libXext.so
-- Looking for XOpenDisplay in /usr/lib/x86_64-linux-gnu/libX11.so;/usr/lib/x86_64-linux-gnu/libXext.so - found
-- Looking for gethostbyname
-- Looking for gethostbyname - found
-- Looking for connect
-- Looking for connect - found
-- Looking for remove
-- Looking for remove - found
-- Looking for shmat
-- Looking for shmat - found
-- Looking for IceConnectionNumber in ICE
-- Looking for IceConnectionNumber in ICE - found
-- Found EXPAT: /usr/lib/x86_64-linux-gnu/libexpat.so (found version "2.4.7")
-- Found double-conversion: /usr/lib/x86_64-linux-gnu/libdouble-conversion.so
-- Found LZ4: /usr/lib/x86_64-linux-gnu/liblz4.so (found version "1.9.3")
-- Found LZMA: /usr/lib/x86_64-linux-gnu/liblzma.so (found version "5.2.5")
-- Found JPEG: /usr/lib/x86_64-linux-gnu/libjpeg.so (found version "80")
-- Found TIFF: /usr/lib/x86_64-linux-gnu/libtiff.so (found version "4.3.0")
-- Found Freetype: /usr/lib/x86_64-linux-gnu/libfreetype.so (found version "2.11.1")
-- Found utf8cpp: /usr/include/utf8cpp
-- Checking for module 'libusb-1.0'
-- Found libusb-1.0, version 1.0.25
-- Found libusb: /usr/lib/x86_64-linux-gnu/libusb-1.0.so
-- Found OpenNI: /usr/lib/libOpenNI.so;libusb::libusb (found version "1.5.4.0")
-- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb)
-- Found OpenNI2: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb (found version "2.2.0.33")
-- OpenNI2 found (version: 2.2.0.33, include: /mnt/c/Program Files/PCL 1.13.1/3rdParty/OpenNI2/Include, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb)
** WARNING ** io features related to pcap will be disabled
-- Eigen found (include: /usr/include/eigen3, version: 3.4.0)
-- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb)
-- OpenNI2 found (version: 2.2.0.33, include: /mnt/c/Program Files/PCL 1.13.1/3rdParty/OpenNI2/Include, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb)
-- Found Qhull version 8.0.2
-- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb)
-- looking for PCL_COMMON
-- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so
-- looking for PCL_KDTREE
-- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so
-- looking for PCL_OCTREE
-- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so
-- looking for PCL_SEARCH
-- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so
-- looking for PCL_SAMPLE_CONSENSUS
-- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so
-- looking for PCL_FILTERS
-- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so
-- looking for PCL_2D
-- Found PCL_2D: /usr/include/pcl-1.12
-- looking for PCL_GEOMETRY
-- Found PCL_GEOMETRY: /usr/include/pcl-1.12
-- looking for PCL_IO
-- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so
-- looking for PCL_FEATURES
-- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so
-- looking for PCL_ML
-- Found PCL_ML: /usr/lib/x86_64-linux-gnu/libpcl_ml.so
-- looking for PCL_SEGMENTATION
-- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so
-- looking for PCL_VISUALIZATION
-- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so
-- looking for PCL_SURFACE
-- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so
-- looking for PCL_REGISTRATION
-- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so
-- looking for PCL_KEYPOINTS
-- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so
-- looking for PCL_TRACKING
-- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so
-- looking for PCL_RECOGNITION
-- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so
-- looking for PCL_STEREO
-- Found PCL_STEREO: /usr/lib/x86_64-linux-gnu/libpcl_stereo.so
-- looking for PCL_APPS
-- Found PCL_APPS: /usr/lib/x86_64-linux-gnu/libpcl_apps.so
-- looking for PCL_IN_HAND_SCANNER
-- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.12
-- looking for PCL_MODELER
-- Found PCL_MODELER: /usr/include/pcl-1.12
-- looking for PCL_POINT_CLOUD_EDITOR
-- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.12
-- looking for PCL_OUTOFCORE
-- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so
-- looking for PCL_PEOPLE
-- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so
-- Found PCL: pcl_common;pcl_kdtree;pcl_octree;pcl_search;pcl_sample_consensus;pcl_filters;pcl_io;pcl_features;pcl_ml;pcl_segmentation;pcl_visualization;pcl_surface;pcl_registration;pcl_keypoints;pcl_tracking;pcl_recognition;pcl_stereo;pcl_apps;pcl_outofcore;pcl_people;Boost::system;Boost::filesystem;Boost::date_time;Boost::iostreams;Boost::serialization;/usr/lib/libOpenNI.so;libusb::libusb;/usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb;VTK::ChartsCore;VTK::CommonColor;VTK::CommonComputationalGeometry;VTK::CommonCore;VTK::CommonDataModel;VTK::CommonExecutionModel;VTK::CommonMath;VTK::CommonMisc;VTK::CommonTransforms;VTK::FiltersCore;VTK::FiltersExtraction;VTK::FiltersGeneral;VTK::FiltersGeometry;VTK::FiltersModeling;VTK::FiltersSources;VTK::ImagingCore;VTK::ImagingSources;VTK::InteractionImage;VTK::InteractionStyle;VTK::InteractionWidgets;VTK::IOCore;VTK::IOGeometry;VTK::IOImage;VTK::IOLegacy;VTK::IOPLY;VTK::RenderingAnnotation;VTK::RenderingCore;VTK::RenderingContext2D;VTK::RenderingLOD;VTK::RenderingFreeType;VTK::ViewsCore;VTK::ViewsContext2D;VTK::RenderingOpenGL2;VTK::GUISupportQt;FLANN::FLANN;QHULL::QHULL
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.74.0/BoostConfig.cmake (found version "1.74.0") found components: system
-- Found OpenCV: /usr/local/opencv480 (found version "4.8.0")
-- Configuring done
-- Generating done
-- Build files have been written to: /mnt/c/Users/zhjr/zhjrProjects/SensorsCalibration/lidar2camera/manual_calib/build
zhjr@Karon:/mnt/c/Users/zhjr/zhjrProjects/SensorsCalibration/lidar2camera/manual_calib$ cmake --build build
[ 50%] Building CXX object CMakeFiles/run_lidar2camera.dir/src/run_lidar2camera.cpp.o
[100%] Linking CXX executable ../bin/run_lidar2camera
[100%] Built target run_lidar2camera

运行：./bin/run_lidar2camera data/0.png data/0.pcd data/center_camera-intrinsic.json data/top_center_lidar-to-center_camera-extrinsic.json
显示：