使用Kalibr问题汇总：ModuleNotFoundError: No module named ‘wx‘

问题1：

报错：/kalibr_ws/src/Kalibr/Schweizer-Messer/sm_python/python/sm/PlotCollection.py", line 4, in
import wx
ModuleNotFoundError: No module named ‘wx’

解决：

sudo apt-get install python3-wxgtk4.0

问题2：

报错：kalibr_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_camera_calibration/ObsDb.py", line 7, in
import igraph
ModuleNotFoundError: No module named ‘igraph’

解决：

sudo apt-get install python3-igraph

问题3：

报错：/fusion_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_camera_calibration/
MulticamGraph.py", line 319, in plotGraph
edge_label=self.G.es[“weight”],
KeyError: ‘Attribute does not exist’
解决：添加同步指令

--approx-sync 0.14

即：

 rosrun kalibr kalibr_calibrate_cameras --target '/home/kkmd66/fusion_ws/src/Kalibr/april_6x6_80x80cm.yaml' --bag '/home/kkmd66/d435_images.bag' --models pinhole-radtan pinhole-radtan --topics /stereo/left/image_raw /stereo/right/image_raw --show-extraction --approx-sync 0.14

注意：0.14参数根据数据集录制质量的不同，而取不同的取值。基本规律是：数据集质量越高，取值越小。

问题4：

报错：/fusion_ws/src/Kalibr/aslam_offline_calibration/kalibr/python/kalibr_imu_camera_calibration/IccSensors.py", line 18, in
import scipy.optimize
ModuleNotFoundError: No module named ‘scipy’

解决：

sudo apt-get install python3-scipy