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0. result of LiDARTag detection

1. build docker image

You can create a docker image using one of the two methods below.

1_1. build docker image with Dockerfile

cd your/catkin_ws/
docker build -t lidartag .

1_2. build docker image using docker pull

docker pull yechanpark5714/lidartag:latest

2. create docker container

You can create a container with the docker run command below.

The --volume parameter should be set to the directory containing your lidartag path, and you need to update the container name and image name as appropriate.

nvidia-docker run --privileged -it \
    --gpus all \
    -e NVIDIA_DRIVER_CAPABILITIES=all \
    -e NVIDIA_VISIBLE_DEVICES=all \
    --volume=/tmp/.X11-unix:/tmp/.X11-unix:rw \
    --net=host \
    --ipc=host \
    --shm-size=2gb \
    --volume=/your/catkin_ws/path:/home/lidartag \
    --name=your docker container name \
    --env="DISPLAY=$DISPLAY" \
    your docker image name

3. start docker container

xhost +local:docker
sudo docker start <your lidartag container>
sudo docker exec -it <your lidartag container> /bin/bash

4. build

cd /home/lidartag
git clone https://github.com/pyc5714/lidartag.git

source /opt/ros/melodic/setup.bash
catkin_make
source /home/lidartag/devel/setup.bash

roslaunch lidartag LiDARTag_outdoor.launch

Acknowledgments

LiDARTag: A Real-Time Fiducial Tag System for Point Clouds