compose.yaml

services:

  kalibr:

    image: ctumrs/kalibr

    volumes:
      - /dev/dri:/dev/dri
      - ./data:/data
      - /tmp/.X11-unix:/tmp/.X11-unix
      - $HOME/.Xauthority:$HOME/.Xauthority

    environment:
        DISPLAY: $DISPLAY

    # --bag-freq can be used to downsample the camera topic, ideally, to get something like 200 images... otherwise it takes too long to process
    #
    # switch models between pinhole-radtan (for later conversion to camera_calibration result) and pinhole-equi for open vins
    #
    # you can pre-initialize the focal length of the camera by exporting
    #            export KALIBR_MANUAL_FOCAL_LENGTH_INIT=1
    # and then running kalibr with
    #            echo 650 | rosrun kalibr ...
    command: bash -c "cd /data && export KALIBR_MANUAL_FOCAL_LENGTH_INIT=1 && echo 500 | rosrun kalibr kalibr_calibrate_cameras --models pinhole-radtan --topics /uav85/camera_front_throttled/image_raw/compressed --target april_6x6.yaml --bag camera_front.bag --bag-freq 5.0"