硬件

• x86电脑
• realsense d435i相机

相机标定

IMU标定

依赖

Ceres

# CMake
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev libgflags-dev
# BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
# SuiteSparse and CXSparse (optional)
sudo apt-get install libsuitesparse-dev
# Ceres
git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver && mkdir build && cd build && cmake .. && make -j32
sudo make install

libdw

sudo apt-get install libdw-dev

编译

mkdir -p imu_utils_ws/src && cd imu_utils_ws/src && git clone https://github.com/shanpenghui/imu_utils.git
cd .. && source /opt/ros/noetic/setup.bash && catkin_make && source devel/setup.bash
roslaunch imu_utils realsense.launch

可能遇到的问题

Q1

The following packages have unmet dependencies:
 libdw-dev : Depends: libelf-dev but it is not going to be installed
             Depends: libdw1 (= 0.165-3ubuntu1) but it is not going to be installed
E: Unable to correct problems, you have held broken packages.

A1

sudo apt-get install libelf1= 0.165-3ubuntu1
sudo apt-get install libelf-dev

Q2

error: aggregate 'std::ofstream out_t' has incomplete type and cannot be defined

A2

//添加保护头文件
#include <fstream>