相机和IMU标定：kalibr工具包，ros环境(Indigo）。
在github的https://github.com/ethz-asl/kalibr/wiki/installation中，有详细篇幅介绍编译方法。
building from source
1.Install ROS indigo
see http://wiki.ros.org/cn/jade/Installation/Ubuntu for more information
1.配置你的电脑使其能够安装来自 packages.ros.org的软件。 sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' 2. 添加 keys sudo apt-key adv --keyserver hkp://pool.sks-keyservers.net --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 3.更新并安装 确保你的Debian软件包索引是最新的： sudo apt-get update sudo apt-get install ros-indigo-desktop-full 4.初始化 rosdep sudo rosdep init rosdep update
2.Install the build and run dependencies
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
3.Create a catkin workspace
mkdir -p ~/kalibr_workspace/src cd ~/kalibr_workspace source /opt/ros/indigo/setup.bash catkin init catkin config --extend /opt/ros/indigo catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
4.Clone the source repo into your catkin workspace src folder
cd ~/kalibr_workspace/src git clone https://github.com/ethz-asl/Kalibr.git
如果网速慢，可以将代码文件下载下来，放到~/kalibr_workspace/src中去。
5.Build the code using the Release configuration.
cd ~/kalibr_workspace catkin build -DCMAKE_BUILD_TYPE=Release -j4 //如果电脑不行可以-j2，其中-j4的意思应该是开启四核同时编译
this will take a while...
6.Once the build is finished you have to source the catkin workspace setup to use Kalibr
source ~/kalibr_workspace/devel/setup.bash
More information on building with catkin and ROS can be found here.
More information on Learning ROS :http://wiki.ros.org/cn/ROS/Tutorials
