关键词：
前序的工作和该博主完全一致：
https://blog.csdn.net/softimite_zifeng/article/details/78632506
出现的问题：
已解决：raise Exception(r"""quotes not allowed in description string ‘%s‘""" % description)
不应该在描述中出现引号（单引号或双引号），可以通过查看错误内容得知需要修改的文件名： 1) lsd_slam_viewer/cfg/LSDSLAMViewerParams.cfg 第20行scaledDepthVarTH：单词 point‘s和keyframe‘s 中出现了单引号，删除单引号 第21行absDepthVarTH：单词 point‘s 第24行cutFirstNKf：单词 keyframe‘s 2) lsd_slam_core/cfg/LSDDebugParams.cfg 第11行plotStereoImages：单词 what‘s 第12行plotTracking：单词 what‘s 第48行continuousPCOutput：单词 Keyfram‘s
之后，
出现新的问题：
main_stitchVideos.cpp:(.text+0x8f30): undefined reference to `cv::String::deallocate()‘
main_stitchVideos.cpp:(.text+0x8fc9): undefined reference to `cv::String::deallocate()‘
main_stitchVideos.cpp:(.text+0x8fdb): undefined reference to `cv::String::deallocate()‘
CMakeFiles/videoStitch.dir/src/main_stitchVideos.cpp.o: In function `inlayVid(int, char**)‘:
main_stitchVideos.cpp:(.text+0x9c62): undefined reference to `cv::imread(cv::String const&, int)‘
main_stitchVideos.cpp:(.text+0x9c6a): undefined reference to `cv::String::deallocate()‘
main_stitchVideos.cpp:(.text+0x9cb3): undefined reference to `cv::imread(cv::String const&, int)‘
main_stitchVideos.cpp:(.text+0x9cbd): undefined reference to `cv::String::deallocate()‘
main_stitchVideos.cpp:(.text+0x9d02): undefined reference to `cv::imread(cv::String const&, int)‘
main_stitchVideos.cpp:(.text+0x9d0c): undefined reference to `cv::String::deallocate()‘
main_stitchVideos.cpp:(.text+0x9d5a): undefined reference to `cv::imread(cv::String const&, int)‘
main_stitchVideos.cpp:(.text+0x9d67): undefined reference to `cv::String::deallocate()‘
main_stitchVideos.cpp:(.text+0x9db1): undefined reference to `cv::imread(cv::String const&, int)‘
main_stitchVideos.cpp:(.text+0x9dbe): undefined reference to `cv::String::deallocate()‘
main_stitchVideos.cpp:(.text+0xa629): undefined reference to `cv::String::allocate(unsigned long)‘
main_stitchVideos.cpp:(.text+0xa654): undefined reference to `cv::imwrite(cv::String const&, cv::_InputArray const&, std::vector<int, std::allocator<int> > const&)‘
main_stitchVideos.cpp:(.text+0xa661): undefined reference to `cv::String::deallocate()‘
main_stitchVideos.cpp:(.text+0xa6c6): undefined reference to `cv::String::allocate(unsigned long)‘
main_stitchVideos.cpp:(.text+0xa6e7): undefined reference to `cv::imshow(cv::String const&, cv::_InputArray const&)‘
main_stitchVideos.cpp:(.text+0xa6f4): undefined reference to `cv::String::deallocate()‘
main_stitchVideos.cpp:(.text+0xaec5): undefined reference to `cv::String::allocate(unsigned long)‘
main_stitchVideos.cpp:(.text+0xaee8): undefined reference to `cv::String::allocate(unsigned long)‘
main_stitchVideos.cpp:(.text+0xaf08): undefined reference to `cv::String::allocate(unsigned long)‘
main_stitchVideos.cpp:(.text+0xaf28): undefined reference to `cv::String::allocate(unsigned long)‘
main_stitchVideos.cpp:(.text+0xaf46): undefined reference to `cv::String::allocate(unsigned long)‘
main_stitchVideos.cpp:(.text+0xb146): undefined reference to `cv::String::deallocate()‘
main_stitchVideos.cpp:(.text+0xb1e2): undefined reference to `cv::String::deallocate()‘
main_stitchVideos.cpp:(.text+0xb20e): undefined reference to `cv::String::deallocate()‘
main_stitchVideos.cpp:(.text+0xb23f): undefined reference to `cv::String::deallocate()‘
main_stitchVideos.cpp:(.text+0xb270): undefined reference to `cv::String::deallocate()‘
CMakeFiles/videoStitch.dir/src/main_stitchVideos.cpp.o:main_stitchVideos.cpp:(.text+0xb33e): more undefined references to `cv::String::deallocate()‘ follow
collect2: error: ld returned 1 exit status
make[3]: *** [../bin/videoStitch] Error 1
make[3]: Leaving directory `/home/zc/rosbuild_ws/package_dir/lsd_slam/lsd_slam_viewer/build‘
make[2]: *** [CMakeFiles/videoStitch.dir/all] Error 2
make[2]: Leaving directory `/home/zc/rosbuild_ws/package_dir/lsd_slam/lsd_slam_viewer/build‘
make[1]: *** [all] Error 2
make[1]: INTERNAL: Exiting with 3 jobserver tokens available; should be 2!
make[1]: Leaving directory `/home/zc/rosbuild_ws/package_dir/lsd_slam/lsd_slam_viewer/build‘
-------------------------------------------------------------------------------
好像是因为opencv版本的问题，
pkg-config --modversion opencv
查看后发现是3.1.0
想办法解决。
找到了：
https://www.cnblogs.com/cc111/p/9382694.html
解决： 在lsd_slam_viewer中的CMAKELISTS.txt的最后加上： find_package(OpenCV REQUIRED) rosbuild_add_executable(videoStitch src/main_stitchVideos.cpp) target_link_libraries(videoStitch $OpenCV_LIBS)
docker镜像使用(代码片段)
...仓库源可以有多个TAG，代表这个仓库源的不同个版本，如ubuntu仓库源里，有15.10、14.04等多个不同的版本，我们使用REPOSITORY:TAG来定义不同的镜像 使用版本为15.10的ubuntu系统镜像来运行容器时dockerrun-t-iubuntu:15.10/bin/bash ... 查看详情