1.在Ubuntu 16.04安装ROS kinetic
2.安装依赖项
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 --upgrade
3.创立工作空间
mkdir -p ~/kalibr_workspace/src
cd ~/kalibr_workspace
source /opt/ros/kinetic/setup.bash
catkin init
catkin config --extend /opt/ros/kinetic
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
4.下载源码
cd ~/kalibr_workspace/src
git clone https://github.com/ethz-asl/Kalibr.git
5.编译
cd ~/kalibr_workspace
catkin build -DCMAKE_BUILD_TYPE=Release -j4
`````````````````````````````````````````````````````````````````可能会出现问题
catkin_make遇到问题：
ImportError: "from catkin_pkg.package import parse_package" failed: No module named 'catkin_pkg'
Make sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.
solution:
出现这个错误的主要原因是,将anaconda设置成了默认的python环境,解决方法是更改系统的默认python环境为系统自带的python环境. sudo gedit ~/.bashrc ,删除或注释anaconda的环境变量,（我是注释掉就OK了）
6.设置环境
source ~/kalibr_workspace/devel/setup.bash
7.测试安装是否成功
从
链接：https://pan.baidu.com/s/14vdbdmEE598irZNVNQ2sZA
提取码：f3wi
下载数据包，解压放在工作空间里。
终端输入
kalibr_calibrate_imu_camera --target april_6x6.yaml --cam camchain.yaml --imu imu_adis16448.yaml --bag dynamic.bag --bag-from-to 5 45