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

cd ~/kalibr_workspace/src

git clone

6、編譯

cd ~/kalibr_workspace

catkin build -dcmake_build_type=release -j4

7、設定環境

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