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
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
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
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