kalibr标定软件安装

sudo apt-get install python-setuptools python-rosinstall ipython libeigen3-dev libboost-all-dev doxygen libopencv-dev ros-melodic-vision-opencv ros-melodic-image-transport-plugins ros-melodic-cmake-modules 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 apt-get install python3-igraph

this compile issue can be fixed by changing "CvSize" into "cv::Size" in file kalibr/aslam_cv/aslam_imgproc/include/aslam/implementation/aslamcv_helper.hpp

catkin build -DCMAKE_BUILD_TYPE=Release -j4

kalibr_calibrate_imu_camera --target april_6x6.yaml --cam camchain.yaml --imu imu_adis16448.yaml --bag dynamic.bag --bag-from-to 5 45
安装参考教程：https://www.jianshu.com/p/a8903b0a82ae

(2)自制标定板

kalibr_create_target_pdf --type 'apriltag' --nx 6 --ny 6 --tsize 0.08 --tspace 0.3

kalibr_create_target_pdf --type apriltag --nx 6 --ny 6 --tsize 数字 --tspace 数字

此过程报错：NO module named pyx

sudo apt-get install python-pyx

标定参考链接：https://zhuanlan.zhihu.com/p/47750214

因为igraph一直无法导入
我就重新运行了这个sudo apt-get install python-igraph
然后就好了？？

imu_utils
dependengcy

sudo apt-get install libdw-dev

ros安装 catkin_make失败 ImportError: “from catkin_pkg.package import parse_package” failed: No module named ‘catkin_pkg’要用python2诶

catkin_make要用python2，但是catkin_build用python3也行
修改软连接https://blog.csdn.net/qq_42887760/article/details/100997264
catkin_make:https://blog.csdn.net/keeplearning365/article/details/108519450?utm_medium=distribute.pc_relevant_t0.none-task-blog-BlogCommendFromMachineLearnPai2-1.control&dist_request_id=1328725.7159.16167265066666833&depth_1-utm_source=distribute.pc_relevant_t0.none-task-blog-BlogCommendFromMachineLearnPai2-1.control

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:64:16: error: ‘integer_sequence’ is not a member of ‘std’
struct SumImpl<std::integer_sequence<T, N, Ns…>> {
^
Change set(CMAKE_CXX_FLAGS “-std=c++11”) to set(CMAKE_CXX_STANDARD 14) in CMakeLists.txt

cd src
git clone https://github.com/gaowenliang/imu_utils.git
可能也是需要修改CMakeLists的版本的

ZED2录制图像
https://blog.csdn.net/slender_1031/article/details/114709018

重新回放的时候是
roscore
rosbag 包的名字

VIO 中 IMU 的标定流程 (1/3) - imu_utils 使用备忘
https://blog.csdn.net/sinat_25923849/article/details/107867407