1、安装kalibr标定工具需要先安装ROS，ubuntu18.04对应的ROS版本是melodic
安装方法：sudo apt install ros-melodic-desktop-full
2、安装kalibr
安装方法：
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 libpoco-dev python-matplotlib python-scipy python-git python-pip ipython libtbb-dev libblas-dev liblapack-dev python-catkin-tools libv4l-dev
其中ros-melodic-vision-opencv，ros-melodic-image-transport-plugins，ros-melodic-cmake-modules需要把melodic 改成系统需要的对应版本
3、安装igraph
sudo pip install python-igraph (sudo apt install python-pip (python2.7))
4、创立工作空间：
mkdir -p ~/kalibr_workspace/src
cd ~/kalibr_workspace
source /opt/ros/melodic/setup.bash
catkin init
catkin config --extend /opt/ros/melodic
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
5、下载kalibr源码：
cd ~/kalibr_workspace/src
git clone https://github.com/ethz-asl/kalibr.git
6、编译
cd ~/kalibr_workspace
catkin build -DCMAKE_BUILD_TYPE=Release -j4
7、设置环境
source ~/kalibr_workspace/devel/setup.bash
8、测试安装是否成功
kalibr_calibrate_imu_camera --target april_6x6.yaml --cam camchain.yaml --imu imu_adis16448.yaml --bag dynamic.bag --bag-from-to 5 45
在使用kalibr_bagcreater 时出现了一个问题，no module “ImageFile”，解决办法是直接把kalibr_bagcreater中的import ImageFile直接注释掉就好了。
