小觅深度摄像头MYNT-EYE-SDK 在linux系统Build SDK Errors

获取小觅MYNT-EYE-SDK

可以从MYNTAI官网下载SDK包，参考链接：https://mynt-eye-d-sdk.readthedocs.io/en/latest/installation/build_linux.html。

make all（make samples)出现错误

显示我并未安装opencv，实际上已经安装了opencv，不过是3.3.0版本，根据以上链接，重新安装opencv3.4.5版本，make samples可以运行，且只要make samples 运行顺利，后面环节还是出错的情况下，在MYNT-EYE-SDK/samples/bin里面的samples仍然可以运行。

make all（make ros）出现错误

错误显示：

CMake Error at /usr/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
Could not find a package configuration file provided by “cv_bridge” with
any of the following names:

cv_bridgeConfig.cmake
cv_bridge-config.cmake

Add the installation prefix of “cv_bridge” to CMAKE_PREFIX_PATH or set
“cv_bridge_DIR” to a directory containing one of the above files. If
“cv_bridge” provides a separate development package or SDK, be sure it has
been installed.
Call Stack (most recent call first):
mynteye_wrapper_d/CMakeLists.txt:20 (find_package)
– Configuring incomplete, errors occurred!
Seealso"/home/robot/MYNT-EYE-D-SDK/wrappers/ros/build/CMakeFiles/CMakeOutput.log".
See also “/home/robot/MYNT-EYE-D-SDK/wrappers/ros/build/CMakeFiles/CMakeError.log”.
Invoking “cmake” failed
Makefile:121: recipe for target ‘ros’ failed
make: *** [ros] Error 1

解决方法一

同样的错误，比如缺少rosconsole.cmake，cpp_common.cmake等包都可以通过

sudo apt-get update
sudo apt-get install 

指令来安装包，错误显示缺少什么包就安装什么包。有很多人可以成功。但是在cv_bridge这个包上就是不行。

sudo apt-get install cv_bridge
结果报错E: Unable to locate package cv_bridge

sudo apt-get install ros-kinetic-cv-bridge

继续报错E: Unable to locate package ros-kinetic-cv-bridge

解决二

在MYNT-EYE-SDK目录下，没有cv_bridge文件夹，本来以为这是错误的原因。于是在网上找资源下载了一个cv_bridge文件夹。参考http://www.cnblogs.com/hizhaolei/p/8724181.html，在github里面找到vision_opencv和cv_bridge的资源。

git clone https://github.com/ros-perception/vision_opencv.git

下载到电脑上替换了MYNT-EYE-D-SDK里面打不开的vision_opencv、cv_bridge
（原来在MYNT-EYE-D-SDK文件夹里面的vision_opencv、cv_bridge、build、catkin等很多文件夹都是打不开的，打开时显示x-x-x could not be found. Perhaps it has recently been deleted.）
同样的，用/usr/share里的catkin替换了打不开的catkin文件夹。
继续make all
还是出现同样的错误，Could not find a package configuration file provided by “cv_bridge” with
any of the following names:
cv_bridgeConfig.cmake
cv_bridge-config.cmake
说明下载的cv_bridge包放错了位置或者拷贝一个包过来是没用的。
参考http://www.cnblogs.com/cv-pr/p/5366764.html
尝试build一下cv_bridge

catkin_make --pkg cv_bridge

出现以下错误：
Base path: /home/robot/MYNT-EYE-D-SDK
Source space: /home/robot/MYNT-EYE-D-SDK/src
The specified base path “/home/robot/MYNT-EYE-D-SDK” contains a CMakeLists.txt but “catkin_make” must be invoked in the root of workspace
参考以下链接：
https://answers.ros.org/question/252980/catkin_make-fail-must-be-invoked-in-the-root-of-workspace/
https://blog.csdn.net/qingdu007/article/details/53453478
对照自己电脑，home/robot/MYNT-EYE-D-SDK中的catkin_ws文件夹打不开。
显示“catkin_ws” could not be found. Perhaps it has recently been deleted.

以上尝试均未解决我的问题。

解决三

在make ros环节出现错误还有一个原因，就是我的电脑上没有ros。虽然根据在build SDK的时候没有ros也可以，但既然我的电脑报错，我决定装一下ros。参考以下链接：
https://mynt-eye-d-sdk.readthedocs.io/en/latest/installation/ros/ros_install.html#ros-install
安装ros的时候没有遇到问题，我又回到MYNT-EYE-SDK目录下，继续执行刚才一直失败的make all指令，此时可以make成功。说明安装ros解决了之前总是缺包的问题。