kalibr（跟新2018.1）

sudo apt-get install python-wxversion 
sudo apt-get install python-wxgtk3.0
sudo apt-get install python-scipy
sudo apt-get install python-igraph

sudo apt-get install libusb-1.0-0-dev 
sudo apt-get install libglfw3-dev 
sudo apt-get install wget

kalibr_calibrate_cameras --bag 2017-09-16-15-45-31.bag --topics /right/image_raw_color --models omni-radtan --target checkerboard_7x6_50x50cm.yaml --bag-from-to 12 30
kalibr_calibrate_cameras --bag 2017-09-16-15-45-31.bag --topics /right/image_raw_color --models pinhole-equi --target checkerboard_7x6_50x50cm.yaml --bag-from-to 12 30

 kalibr_calibrate_imu_camera --target checkerboard_7x6_50x50cm.yaml --cam camchain.yaml --imu imu.yaml --bag 2017-09-16-15-45-31.bag --bag-from-to 12 30
kalibr_calibrate_cameras --bag 2017-09-17-19-44-02.bag --topics /right/image_raw_color /left/image_raw_color --models pinhole-equi pinhole-equi --target checkerboard_7x6_50x50cm.yaml 


kalibr_calibrate_cameras --bag 2017-09-27-14-43-29realsense_camera.bag --topics /camera/fisheye/image_raw --models omni-radtan --target checkerboard_7x6_50x50cm.yaml 

使用kalibr标定camera 和imu

之间延迟命令

kalibr_calibrate_imu_camera --target checkerboard_7x6_50x50cm.yaml --cam camchain-2017-12-22-18-41-26.yaml --imu imu.yaml imu1.yaml --imu-models calibrated calibrated --bag sw.bag --perform-synchronization --time-calibration --timeoffset-padding 0.1