Kalibr安装

wzj5530

已于 2023-04-21 16:59:53 修改

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分类专栏： SLAM 文章标签：自动驾驶视觉检测人工智能

于 2022-02-22 16:02:40 首次发布

本文链接：https://blog.csdn.net/u011089570/article/details/123070447

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   10  sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'
   11  wget http://packages.ros.org/ros.key -O - | sudo apt-key add - 
   12  sudo apt-get update
   13  sudo apt-get install ros-indigo-desktop python-rosinstall python-rosdep -y
   14  sudo rosdep init 
   16  rosdep update  
   19  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 
   41  sudo apt-get install python-igraph

   24  mkdir -p ~/kalibr_workspace/src 
   25  cd ~/kalibr_workspace 
   26  source /opt/ros/indigo/setup.bash 
   27  catkin init 
   28  catkin config --extend /opt/ros/indigo 
   29  catkin config --merge-devel
   30  catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
   31  cd ~/kalibr_workspace/src 
   32  git clone https://github.com/ethz-asl/Kalibr.git
   33  cd ~/kalibr_workspace 
   34  catkin build -DCMAKE_BUILD_TYPE=Release -j4


   49  kalibr_bagcreater --folder mav0/ --output-bag static.bag
   53  kalibr_bagcreater --folder mav0/ --output-bag dynamic.bag

   63  kalibr_calibrate_cameras --bag static.bag --topic /cam0/image_raw /cam1/image_raw --models omni-radtan omni-radtan --target target.yaml 

   65  kalibr_calibrate_imu_camera --target target.yaml --cam camchain-static.yaml --imu xr-imu-params.yaml --bag dynamic.bag --verbose


kalibr_calibrate_cameras --bag dataset-calib-cam1_512_16.bag --topic /cam0/image_raw /cam1/image_raw --models omni-radtan omni-radtan --target april_6x6_80x80cm.yaml

kalibr_calibrate_imu_camera --target april_6x6_80x80cm.yaml --cam camchain-dataset-calib-cam1_512_16.yaml --imu tum-imu-params.yaml --bag dataset-calib-imu1_512_16.bag --verbose


// rolling shutter cameras
kalibr_calibrate_rs_cameras --bag static.bag --model pinhole-radtan-rs --target target.yaml --topic /cam0/image_raw --inverse-feature-variance 1 --frame-rate 30