kalibr_allan工具编译时出现Matlab错误

1、错误信息

CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
MATLAB_ENG_LIBRARY (ADVANCED)
    linked by target "bagconvert" in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
    linked by target "bagconvert" in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
MATLAB_INCLUDE_DIR (ADVANCED)
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
MATLAB_MAT_LIBRARY (ADVANCED)
    linked by target "bagconvert" in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
MATLAB_MEX_LIBRARY (ADVANCED)
    linked by target "bagconvert" in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
    linked by target "bagconvert" in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
MATLAB_MX_LIBRARY (ADVANCED)
    linked by target "bagconvert" in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
    linked by target "bagconvert" in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
MATLAB_UT_LIBRARY
    linked by target "bagconvert" in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert

-- Configuring incomplete, errors occurred!

2、问题原因

     kalibr_allan工具中的ROS bag包转成Matlab中的mat数据格式时，bagconvert小工具需要知道Matlab安装包在Ubuntu系统下的路径，找不到Matlab的安装路径则会出现上面的错误.

3、解决办法

    (1): 先确定Ubuntu上自己安装的Matlab路径，例如: /home/flmxi/INSTALL_Matlab/bin

    (2): 根据自己的matlab安装路径修改文件: kalibr_allan-master/bagconvert/cmake/FindMatlab.cmake

    (3): 找到设置matlab路径的地方

            if (NOT MATLAB_ROOT)
 
                 # get path to the Matlab executable
                 find_program(MATLAB_EXE_PATH matlab   PATHS   /sad/INSTALL_Matlab/bin)
                 if (MATLAB_EXE_PATH)

     (4): 替换自己的matlab安装路径