1、安裝kalibr標(biāo)定工具需要先安裝ROS，ubuntu18.04對(duì)應(yīng)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(tǒng)需要的對(duì)應(yīng)版本

?3、安裝igraph

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

4、創(chuàng)立工作空間：

mkdir -p ~/kalibr_workspace/src?

cd ~/kalibr_workspace?

?source /opt/ros/melodic/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(shè)置環(huán)境

???? source ~/kalibr_workspace/devel/setup.bash

8、測(cè)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

在使用kalibr_bagcreater 時(shí)出現(xiàn)了一個(gè)問(wèn)題，no module “ImageFile”，解決辦法是直接把kalibr_bagcreater中的import ImageFile直接注釋掉就好了。