安装kalibr标定IMU Ubuntu16.04

参考

building from source前提是安装了ROS kinetic和catkin工作空间。

1.从源码安装工具箱

安装ROS indigo     （see ros.org for more information）

在Ubuntu 16.04安装ROS kinetic:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'

wget http://packages.ros.org/ros.key -O - | sudo apt-key add - 
sudo apt-get update 
sudo apt-get install ros-kinetic-desktop python-rosinstall python-rosdep -y 
rosdep init 
rosdep update 

2安装依赖项

sudo apt-get install python-setuptools python-rosinstall ipython libeigen3-dev libboost-all-dev doxygen libopencv-dev ros-kinetic-vision-opencv ros-kinetic-image-transport-plugins ros-kinetic-cmake-modules python-software-properties software-properties-common libpoco-dev python-matplotlib python-scipy python-git python-pip ipython libtbb-dev libblas-dev liblapack-dev python-catkin-tools libv4l-dev

sudo pip install python-igraph --upgrade

3创立工作空间

mkdir -p ~/kalibr_workspace/src 
cd ~/kalibr_workspace 
source /opt/ros/kinetic/setup.bash 
catkin init 
catkin config --extend /opt/ros/kinetic 
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release

4下载源码

cd ~/kalibr_workspace/src 
git clone https://github.com/ethz-asl/Kalibr.git

5编译
cd ~/kalibr_workspace 
catkin build -DCMAKE_BUILD_TYPE=Release -j4

5设置环境
source ~/kalibr_workspace/devel/setup.bash

6测试安装是否成功

从https://pan.baidu.com/s/1bWQT7g提取码2g2t下载数据包，解压放在工作空间里。

终端输入

kalibr_calibrate_imu_camera --target april_6x6.yaml --cam camchain.yaml --imu imu_adis16448.yaml --bag dynamic.bag --bag-from-to 5 45