Realsense2 相机使用Kalibr工具标定（一）

1、 环境准备

Ubuntu18.04
ROS-melodic
Python3.7

2、Kalibr安装

本文只针对Kalibr源码编译，详情请看官方文档

2.1 ros系统安装

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-get update
export ROS1_DISTRO = melodic 
sudo apt-get install ros-melodic-desktop-full
sudo apt-get install python-catkin-tools 

2.2 依赖项安装

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

针对不同的python版本环境进行安装

# 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

2.3 创建一个工作空间

mkdir -p ~/kalibr_ws/src
cd ~/kalibr_ws
export ROS1_DISTRO = melodic 
source /opt/ros/melodic/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

2.4 添加KAlibr项目

此处直接下载代码也可以，或者使用git clone方法，如下所示：

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

2.5 编译Kalibr

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

2.6 刷新工作空间

source ~/kalibr_ws/devel/setup.bash

2.7 验证

在bulid后可能因为某些原因导致报错 == kalibr_calibrate_imu_camera: command not found==
查找相关包位置后

 find . -name "kalibr_calibrate_imu_camera"

应该实行以下命令进行使用

./build/kalibr/catkin_generated/installspace/kalibr_calibrate_imu_camera --target april_6x6.yaml --cam camchain.yaml --imu imu_adis16448.yaml --bag dynamic.bag --bag-from-to 5 45

3、编译踩坑解决

3.1 头文件缺失

报错：error: '_1' was not declared in this scope
在对应cmake文件中添加

using namespace std;
using namespace placeholders;