安裝kalibr Ubuntu16.04

1.在Ubuntu 16.04安裝ROS kinetic

2.安裝依賴項

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

sudo pip install python-igraph --upgrade

3.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/kinetic 
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
 

4.下載原始碼

cd ~/kalibr_workspace/src 
git clone https://github.com/ethz-asl/Kalibr.git

5.編譯
cd ~/kalibr_workspace 
catkin build -DCMAKE_BUILD_TYPE=Release -j4

`````````````````````````````````````````````````````````````````可能會出現問題

catkin_make遇到問題：

ImportError: "from catkin_pkg.package import parse_package" failed: No module named 'catkin_pkg'
Make sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.

solution:

出現這個錯誤的主要原因是,將anaconda設定成了預設的python環境,解決方法是更改系統的預設python環境為系統自帶的python環境. 
sudo gedit ~/.bashrc ,刪除或註釋anaconda的環境變數,（我是註釋掉就OK了）

6.設定環境
source ~/kalibr_workspace/devel/setup.bash

7.測試安裝是否成功

從

連結：https://pan.baidu.com/s/14vdbdmEE598irZNVNQ2sZA 
提取碼：f3wi 

下載資料包，解壓放在工作空間裡。

 

終端輸入

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