https://github.com/eduidl/elasticfusion-dockerfile
Dockerfile for the use of [ElasticFusion](https://github.com/mp3guy/ElasticFusion)
https://github.com/eduidl/elasticfusion-dockerfile
doccker elasticfusion rgbd-slam slam
Last synced: 4 months ago
JSON representation
Dockerfile for the use of [ElasticFusion](https://github.com/mp3guy/ElasticFusion)
- Host: GitHub
- URL: https://github.com/eduidl/elasticfusion-dockerfile
- Owner: eduidl
- License: mit
- Created: 2019-12-12T14:32:23.000Z (over 5 years ago)
- Default Branch: master
- Last Pushed: 2023-04-21T20:56:51.000Z (about 2 years ago)
- Last Synced: 2025-01-12T13:11:25.806Z (6 months ago)
- Topics: doccker, elasticfusion, rgbd-slam, slam
- Language: Dockerfile
- Size: 104 KB
- Stars: 17
- Watchers: 2
- Forks: 6
- Open Issues: 4
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# ElasticFusion Dockerfile
Dockerfile for use of [ElasticFusion](https://github.com/mp3guy/ElasticFusion) with RealSense
## Requirements
- Docker
- from: https://docs.docker.com/get-docker/
- NVIDIA Container Toolkit
- from: https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html
### My environment (ref.)
- Ubuntu 20.04
- CUDA 11.2 (host)
```
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 460.32.03 Driver Version: 460.32.03 CUDA Version: 11.2 |
|-------------------------------+----------------------+----------------------+
| GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC |
| Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. |
| | | MIG M. |
|===============================+======================+======================|
| 0 GeForce GTX 1080 On | 00000000:01:00.0 On | N/A |
| 46% 52C P2 67W / 180W | 3900MiB / 8116MiB | 26% Default |
| | | N/A |
+-------------------------------+----------------------+----------------------+
```
## Docker build and run
```terminal
$ docker build -t ./docker
$ xhost local:
$ ./opendocker.sh
$ xhost -local:
```
## Run with RealSense
I tested only with RealSense D435.
```terminal
$ ElasticFusion
# data is saved as `/opt/ElasticFusion/GUIlive.ply`
```
## Run with sample data
```terminal
$ wget http://www.doc.ic.ac.uk/~sleutene/datasets/elasticfusion/dyson_lab.klg -P ./workspace
# in container
$ ElasticFusion -l dyson_lab.klg
```
## Visualize result
```terminal
$ pipenv sync
$ pipenv shell
$ python visualize.py --ply
```
