https://github.com/ethz-asl/kalibr
https://calib.io/pages/camera-calibration-pattern-generator
http://h.xxlab.vip/#/iros/install.step
https://blog.csdn.net/wangxue_1231/article/details/92801510
https://www.geeksforgeeks.org/how-to-install-wxpython-on-linux/
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标定imu内参

roslaunch realsense2_camera rs_camera.launch
先安装code_utils
再安装imu_utils
roslaunch imu_utils imu_d455.launch

相机发布imu topic的名字 # 录制数据的时长 单位是分钟

https://blog.csdn.net/weixin_60092104/article/details/123707552
https://blo