kalibr安装编译过程以及将imu_utils集成到一个工作空间下

可以参考官网链接Installation · ethz-asl/kalibr Wiki · GitHub

先要安装依赖项

具体命令为

sudo apt-get install -y \
    git wget autoconf automake nano \
    libeigen3-dev libboost-all-dev libsuitesparse-dev \
    doxygen libopencv-dev \
    libpoco-dev libtbb-dev libblas-dev liblapack-dev libv4l-dev

# Ubuntu 16.04
sudo apt-get install -y python2.7-dev python-pip python-scipy \
    python-matplotlib ipython python-wxgtk3.0 python-tk python-igraph python-pyx
# Ubuntu 18.04
sudo apt-get install -y python3-dev python-pip python-scipy \
    python-matplotlib ipython python-wxgtk4.0 python-tk python-igraph python-pyx
# Ubuntu 20.04
sudo apt-get install -y python3-dev python3-pip python3-scipy \
    python3-matplotlib ipython3 python3-wxgtk4.0 python3-tk python3-igraph python3-pyx

注意自己所用的系统版本

然后开始新建工作空间编译

mkdir -p ~/kalibr_workspace/src
cd ~/kalibr_workspace
export ROS1_DISTRO=noetic # kinetic=16.04, melodic=18.04, noetic=20.04
source /opt/ros/$ROS1_DISTRO/setup.bash
catkin init
catkin config --extend /opt/ros/$ROS1_DISTRO
catkin config --merge-devel # Necessary for catkin_tools >= 0.4.
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release

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

cd ~/kalibr_workspace/
catkin build -DCMAKE_BUILD_TYPE=Release -j4

电脑性能不好的改为j1

编译完成添加到环境变量就能用了

source ~/kalibr_workspace/devel/setup.bash
rosrun kalibr <command_you_want_to_run_here>

 

如果想将imu_utils添加进来可以通过在src目录下输入命令，参考Xavier ubuntu18.04 相机+imu标定算法的编译_Keio1o的博客-优快云博客

cd ~/kalibr_ws/src
sudo apt-get install libdw-dev
git clone https://github.com/gaowenliang/code_utils.git

按照参考博客进行（注意工作空间名称），但是在编译时注意使用命令

catkin build -DCMAKE_BUILD_TYPE=Release -j4

然后就能将imu_utils集成到kalibr的工作空间中了。