Kalibr标定完整过程（相机用的小觅深度系列相机）

1. 安装ROS，MYNTEYE 的sdk

2. 安装依赖库

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

3. 下载Kalibr和编译

mkdir -p ~/kalibr_ws/src
cd ~/kalibr_ws/src

cd ~/kalibr_workspace/src 
git clone https://github.com/ethz-asl/Kalibr.git
cd ~/kalibr_workspace 
catkin build -DCMAKE_BUILD_TYPE=Release -j4

4. 完成后开始测试

1） 数据采集：

rosbag record -O stereo_calibra.bag [topic] [topic]

2）制作pdf标定版（支持checkerboard和apriltag），进行打印，注意要进行按照实际的大小打印，而且打印的标定版至少要占图像的3