传感器标定的准确后面做算法才会更准确，所以对Kalibr进行学习。

一、Kalibr编译

1、下载kalibr包

GitHub下载地址

2、 解压后放到/catkin_ws/src文件夹下

重新命令文件夹为kalibr

3、 安装依赖库

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 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 python-igraph

4、设置编译选项

catkin config --extend /opt/ros/melodic

catkin config --merge-devel # Necessary for catkin_tools >= 0.4. catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release

5、 编译

catkin build -DCMAKE_BUILD_TYPE=Release -j4