kinectv2-ros-docker

A docker environment to use Kinect v2 with ROS

Usage

Build the image

make build

catkin build

docker-compose up catkin-build

Launch kinect2_bridge

docker-compose up kinect2-bridge

Calibration

Follow the steps shown here

1. Make a directory for storing images

   mkdir calib

2. Collect color images

   docker-compose up kinect2-calibration-record-color

3. Calibrate the RGB camera

   docker-compose up kinect2-calibration-calibrate-color

4. Collect IR images

   docker-compose up kinect2-calibration-record-ir

5. Calibrate the IR camera

   docker-compose up kinect2-calibration-calibrate-ir

6. Collect synchronized RGB and IR images

   docker-compose up kinect2-calibration-record-sync

7. Calibrate the extrinsics of the RGB and IR cameras

   docker-compose up kinect2-calibration-calibrate-sync

8. Calibrate depth

   docker-compose up kinect2-calibration-calibrate-depth

9. Copy the generated parameter files to catkin_ws/src/iai_kinect2/kinect2_bridge/data/<sensor serial>

NOTE: Change the parameters of the checkerboard in the commands depending on the one you use.