相机与激光雷达联合标定综述

livox数据 指令

  docker run \
  -it \
  --rm \
  --net host \
  --gpus all \
   -e DISPLAY=$DISPLAY \
   -v /tmp/.X11-unix:/tmp/.X11-unix \
  -v $HOME/.Xauthority:/root/.Xauthority \
  -v /home/ubuntu/liaodaihai/camera_lidar_calib/input/bags:/tmp/input_bags \
  -v /home/ubuntu/liaodaihai/camera_lidar_calib/result:/tmp/preprocessed \
  koide3/direct_visual_lidar_calibration:noetic \
  rosrun direct_visual_lidar_calibration preprocess -av \
  --camera_model plumb_bob \
  --camera_intrinsic 1452.711762456289,1455.877531619469,1265.25895179213,1045.818593664107 \
  --camera_distortion_coeffs -0.04203564850455424,0.0873170980751213,0.002386381727224478,0.005629700706305988,-0.04251149335870252 \
  /tmp/input_bags /tmp/preprocessed

如果报错 glfw error 65544: X11: The DISPLAY environment variable is missing failed to initialize GLFW

上面指令增加 -v /tmp/.X11-unix:/tmp/.X11-unix \       然后在宿主机上  执行命令

xhost +local:docker

参考 


i还在为“相机-激光雷达”联合标定烦恼吗？这两种自动化标定方法助你解惑了