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https://github.com/toshikinakamura0412/docker_kalibr
The docker environment for Kalibr
https://github.com/toshikinakamura0412/docker_kalibr
calibration camera docker docker-compose dockerfile imu mit-license ros ros-noetic
Last synced: about 2 months ago
JSON representation
The docker environment for Kalibr
- Host: GitHub
- URL: https://github.com/toshikinakamura0412/docker_kalibr
- Owner: ToshikiNakamura0412
- License: mit
- Created: 2024-11-10T16:06:27.000Z (about 2 months ago)
- Default Branch: master
- Last Pushed: 2024-11-10T17:16:09.000Z (about 2 months ago)
- Last Synced: 2024-11-10T18:20:46.550Z (about 2 months ago)
- Topics: calibration, camera, docker, docker-compose, dockerfile, imu, mit-license, ros, ros-noetic
- Language: Dockerfile
- Homepage:
- Size: 3.91 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# docker_kalibr
[](https://opensource.org/licenses/MIT)
The docker environment for [Kalibr](https://github.com/ethz-asl/kalibr)
For more information, see [Official Wiki](https://github.com/ethz-asl/kalibr/wiki)
## Environment
### OS
- Ubuntu
### Mount
- data
- Source: `~/data`
- Destination: `/home/user/data`
- x11
- Source: `/tmp/.X11-unix`
- Destination: `/tmp/.X11-unix`
## Setup
```bash
make setup
make build
```
## Usage
### Run
```bash
docker compose up -d
docker compose exec ws
```
### Execute Calibration
e.g. Camera-IMU calibration
(Before running the command, you need to download the calibration data from [here](https://github.com/ethz-asl/kalibr/wiki/downloads))
```bash
rosrun kalibr kalibr_calibrate_imu_camera \
--target ~/data/april_6x6.yaml \
--imu ~/data/imu_adis16448.yaml \
--imu-models calibrated \
--cam ~/data/cam_april-camchain.yaml \
--bag ~/data/imu_april.bag
```
### Stop
```bash
docker compose down
```