Installation

Two sources for the toolbox are provided. Altough it is possible to use the CDE package to get the toolbox running we recommend to build the package from source using catkin (ROS build-system) as some of the tools will only work with a native ROS installation

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

• CDE package
  Using this package is the easiest way to get the toolbox working. All dependencies are packed within this package so no external dependencies need to be installed. Some tools will not work with this package (validator and focus tool)

##A) Using the CDE package (only 64bit systems) To remove necessity of installing ROS and building the toolbox from source, the entire toolbox together with its dependencies is provided as a CDE package.

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 you can add this folder to the system path using:

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

##B) Building from source The source build has been tested on Ubuntu 12.10 with 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 the 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. Maybe grab a coffee, this will take a while...
   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

5. Once the build is finished you have to source the catkin workspace setup to use Kalibr

   source ~/kalibr_workspace/devel/setup.bash

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