Kalibr安装教程

系统：Ubuntu18.04
首先，需要安装好gcc、g++、cmake、ros，如果没有，可使用如下命令一键安装

sudo apt-get install gcc g++ cmake

wget http://fishros.com/install -O fishros && . fishros

安装Kalibr
1.安装依赖

sudo apt-get install python-setuptools python-rosinstall ipython libeigen3-dev libboost-all-dev doxygen libopencv-dev ros-melodic-vision-opencv ros-melodic-image-transport-plugins ros-melodic-cmake-modules 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 libsuitesparse-dev

pip install igraph

2.创建工作空间

mkdir -p ~/kalibr_workspace/src
cd ~/kalibr_workspace
source /opt/ros/${ROS_DISTRO}/setup.bash
catkin init
catkin config --extend /opt/ros/${ROS_DISTRO}
catkin config --merge-devel # Necessary for catkin_tools >= 0.4.
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release

3.克隆源码

cd ~/kalibr_workspace/src
git clone https://github.com/ethz-asl/Kalibr.git
# 网络不好可以从gitee克隆
git clone https://gitee.com/lift-zpz/kalibr.git

4.编译

cd ~/kalibr_workspace
catkin build -DCMAKE_BUILD_TYPE=Release

5.source工作空间

source ~/kalibr_workspace/devel/setup.bash

6.采集自己的数据集rosbag

rosbag record /topic1 /topic2 ...

7.使用

rosrun kalibr kalibr_calibrate_imu_camera --bag [filename.bag] --cam [camchain.yaml] --imu [imu.yaml] --target [target.yaml]

主要内容引用如下，对其中部分细节做了验证修改

https://zhuanlan.zhihu.com/p/371188328

ros一键安装命令copy于鱼香ROS官网

http://fishros.com/#/fish_home