Camera和IMU的标定过程之kalibr 源码编译

1. 安装ORS-kinetic版本（略）

2. 源码编译

2.1 安装必要的库文件

温馨提示： 一个可以很方便查询各种库文件的网站，https://packages.debian.org/zh-cn/
eg, 查询libv4l-dev，  https://packages.debian.org/zh-cn/sid/libv4l-dev
sudo apt-get install
python-catkin-tools   :     for catkin tools installation
libv4l-dev                  :     for Collection of video4linux support libraries (development files)
libblas-dev                :      Basic Linear Algebra Subroutines 3, static library
liblapack-dev            :      Library of linear algebra routines 3 - static version
libeigen3-dev

 

编译报错：
编译numpy_eigen模块的时候报错，提示找不到 “fatal error: numpy/arrayobject.h: No such file or directory”

头文件的具体目录：/usr/local/lib/python2.7/dist-packages/numpy/core/include/numpy
umpy_eigen模块所在的目录：/home/ubuntu/workspace/kalibr_workspace/src/Kalibr/Schweizer-Messer/numpy_eigen/cmake

解决办法：
 

 

sudo apt-get install python-setuptools python-rosinstall ipython libeigen3-dev libboost-all-dev doxygen libopencv-dev ros-indigo-vision-opencv ros-indigo-image-transport-plugins ros-indigo-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 

 

 

 

 

参考：

1. https://github.com/ethz-asl/kalibr/wiki/installation