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
cd catkin_ws/src/
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
