Compile from source

Let's go over the building step by step.

1. Install ROS

See ros.org for more information about ROS and tutorial for the installation. ROS Melodic installed on Ubuntu18.04 is highly recommanded, because Multical is developed and well-tested under such environment. Due to sharp changes regarding some dependencies, e.g. OpenCV and Boost-python, Multical currently cannot be compiled successfully with ROS Noetic on Ubuntu20.04.

2. Install other Dependencies

Most depencencies have been installed after you install ROS, there may exist some missing python packages, please install them with Pip. Especially, Open3D is used here, thus should be installed. However, because ROS Melodic only supports python2, but the latest version of Open3D which supports python2 is 0.9.0, so please specify version when install Open3D with Pip like

pip install open3d==0.9.0

3. Build

mkdir -p ~/multical_workspace/src
cd ~/kalibr_workspace/src
git clone https://github.com/zhixy/multical.git
cd ..
catkin build -DCMAKE_BUILD_TYPE=Release

4. Run

After building successfully, you have to source the workspace setup to use Multical

source ~/multical_workspace/devel/setup.bash

Afterwards, you can excute the Multical commands, for example multical_calibrate_sensors