Installation

The following two sources for the toolbox are provided:

• building from source
  Depends on a working installation of ROS hydro and a catkin workspace. Binaries will run faster than with the CDE package and all tools are available.

• CDE package
  Using this package is the easiest and fastest way to get the toolbox working. All dependencies are packed within the package and no external dependencies required. The Camera focus and Calibration validator tools aren't available with the CDE-package as a native ROS installation is required.

NOTE: It is recommended to build the toolbox from source with a native ROS installation to make all tools available.

##A) Using the CDE package (only 64bit systems) To remove the necessity of installing ROS and building the toolbox from source, a CDE package is provided that packs the toolbox and all its dependencies in a chroot-like environment. To install this package follow these steps:

1. Download the package from the Downloads page.

2. Extract the archive using:

   tar xfvz kalibr.tar.gz

3. Either you can run the tools directly from the cde-package folder or/and it is possible to add the package folder to the system path using:

   export PATH="/cde/package/path:$PATH"

   to use the tools conveniently as it would be installed.

##B) Building from source To build from source follow these steps (tested on Ubuntu 12.10 and ROS hydro):

1. Install ROS hydro
   see ros.org for more information

   Example for ubuntu-quantal and ROS hydro below:

   sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu quantal main" > /etc/apt/sources.list.d/ros-latest.list'

wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install ros-hydro-desktop python-rosdistro python-rosdep python-rosinstall python-rosinstall-generator python-bloom python-rosinstall python-rosdep -y
rosdep init
rosdep update

1. Install the build and run dependencies:

   sudo apt-get install python-setuptools python-rosinstall ipython libeigen3-dev libboost-all-dev doxygen libopencv-dev ros-hydro-vision-opencv ros-hydro-image-transport-plugins ros-hydro-cmake-modules python-software-properties software-properties-common libpoco-dev python-matplotlib python-git python-pip ipython libtbb-dev libblas-dev liblapack-dev
   
   sudo pip install python-igraph --upgrade

2. Create a catkin workspace
   

   mkdir -p ~/kalibr_workspace/src
   cd ~/kalibr_workspace/src
   source /opt/ros/hydro/setup.bash
   catkin_init_workspace
   

3. Clone the source repo into your catkin workspace src folder
   

   cd ~/kalibr_workspace/src
   git clone https://github.com/ethz-asl/Kalibr.git

4. Build the code using the Release target. depending on the available memory, you might need to reduce the build threads (e.g. add -j2 to catkin_make)
   

   cd ~/kalibr_workspace
   catkin_make -DCMAKE_BUILD_TYPE=Release -j4

   Grab a coffee, this will take a while...
   

5. 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.

References

Please cite the appropriate papers when using this library or parts of it in an academic publication.

1. Philip J. Guo. (2011). CDE: Run Any Linux Application On-Demand Without Installation. USENIX Large Installation System Administration Conference (LISA). homepage