Kalibr联合标定Camera-IMU
1. Kalibr安装
2. 制作标定板
3. Camera标定
3.1采集数据
3.2开始标定
3.3标定验证
4. IMU标定
5. Camera与IMU联合标定
1. Kalibr安装
安装依赖库
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
sudo pip install python-igraph --upgrade
创建工作空间
mkdir -p ~/catkin_kalibr/src
cd ~/catkin_kalibr/src
catkin_init_workspace
cd ..
catkin_make
echo "source ~/catkin_kalibr/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
cd ~/catkin_kalibr/src</