本地链接权限
$ xhost +local:
拉镜像
$ docker pull zhuoyuan0/calibration_lidar
建立容器
$ docker run -it \
--privileged \
-v /run/udev:/run/udev \
-v /dev/bus/usb:/dev/bus/usb \
-v "/tmp/.X11-unix:/tmp/.X11-unix:rw" \
-v "$XAUTH:$XAUTH" \
-v ~/Documents:/root/Documents \
--device-cgroup-rule='c 189:* rmw' \
-e "DISPLAY=$DISPLAY" \
-e "QT_X11_NO_MITSHM=1" \
-e "XAUTHORITY=$XAUTH" \
--network host \
--shm-size 15G \
-p 5900:5900 \
--gpus all \
--name=calibration_lidar_v1 \
zhuoyuan0/calibration_lidar /bin/bash
$ cd
$ git clone https://github.com/zhuoyuan00/calibration_lidar.git
$ cd calibration_lidar
$ mkdir build && cd build
$ cmake .. && make -j
先将待配准点云拷贝到docker环境中/root/calibration_kit/test_data/lidar2lidar
$ cd build
$ ./calibration_kit
选择点云文件