ubuntu18.04安裝kalibr相機標定工具

 

1、安裝kalibr標定工具需要先安裝ROS，ubuntu18.04對應的ROS版本是melodic

    安裝方法：sudo apt install ros-melodic-desktop-full

2、安裝kalibr

   安裝方法：

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

其中ros-melodic-vision-opencv，ros-melodic-image-transport-plugins，ros-melodic-cmake-modules需要把melodic 改成系統需要的對應版本

 3、安裝igraph

     sudo pip install python-igraph  (sudo apt install python-pip (python2.7))

4、創立工作空間：

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

5、下載kalibr源碼：

     cd ~/kalibr_workspace/src

     git clone https://github.com/ethz-asl/kalibr.git

6、編譯

     cd ~/kalibr_workspace

     catkin build -DCMAKE_BUILD_TYPE=Release -j4

 7、設置環境

     source ~/kalibr_workspace/devel/setup.bash

8、測試安裝是否成功

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