ubuntu18.04下kinect2相机标定

在Ubuntu18.04下进行Kinect2相机标定，可以按照以下步骤进行：

1. 安装libfreenect2和OpenCV库

   sudo apt-get install build-essential libturbojpeg libjpeg-turbo8-dev libglfw3-dev libopenni2-dev
   git clone https://github.com/OpenKinect/libfreenect2.git
   cd libfreenect2
   mkdir build && cd build
   cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/freenect2
   make && make install
   sudo apt-get install libopencv-dev

2. 下载calibration_toolbox并编译

   git clone https://github.com/ethz-asl/kalibr.git
   cd kalibr
   mkdir build && cd build
   cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/kalibr
   make -j4 && make install

3. 连接Kinect2相机并运行标定程序

   roslaunch freenect2_launch freenect2.launch
   rosrun kalibr kalibr_calibrate_cameras --target aprilgrid --bag <your_bag_file>.bag --topics /kinect2/qhd/image_color_rect /kinect2/qhd/camera_info --models pinhole-radtan pinhole-radtan --target-size 0.088 --approx-sync 0.1

4. 标定结果保存在`~/.ros/camera_info`目录下