/atis-gen3-docker

Primary LanguageDockerfile

How to set up docker to use the ATIS gen 3 cameras:

To use the ATIS3 cameras we need to have metavision (previously Prophesee) libraries installed. There are two versions of the libraries depending on if you are using VGA (events-only, latest library version) or HVGA camera (intensity image, library version 1.4).

Get the right docker image:

Grab the base image with all the right installs:

VGA

docker pull eventdrivenrobotics/atis-gen3:latest

HVGA

docker pull eventdrivenrobotics/atis-gen3:1.4

⚠️ if you want to run docker without sudo you can give permission for your local user to run docker https://docs.docker.com/engine/install/linux-postinstall/

Start the docker container

Before running docker we need to tell the host to accept GUI windows. On the host we need to run

xhost local:docker

to enable the X11 forwarding on the host side.

Then run a container with the right parameters:

docker run -it --privileged -v /dev/bus/usb:/dev/bus/usb -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=unix$DISPLAY --name <container_name> eventdrivenrobotics/atis-gen3:latest

The meaning of the options are:

  • -it : runs the container in an interactive bash
  • --privileged : give the docker rights to open devices (to read the camera over usb)
  • -v /dev/bus/usb:/dev/bus/usb : mount the /dev folder so the docker can find the right device
  • -v /tmp/.X11-unix:/tmp/.X11-unix : mount the temporary configuration for x11 to use the same options as the host
  • -e DISPLAY=unix$DISPLAY : set the environment variable for X11 forwarding
  • --name : name your container so you remember it, if not specified docker will assign a random name that you will have to remember

⚠️ remember to use ..atis-gen3:1.4 if you are using the HVGA camera

💡 use --network host if you want the docker to share the IP addresses with the host

This will start the new container with a terminal. To close this container you can use ctrl+d. The container still exists (on the host type docker ps -a to see it's still there. Take note of the container name. Next time you want to open this same container you will need to:

docker start <container_name>

and then open a terminal inside the container:

docker exec -it <container_name> bash

⚠️ To modify mounted drives and environment variables you will need to create a new container. See here for more information.

⚠️ Helper scripts are also available following these instructions.

Use the container

Installed applications:

VGA

ls /usr/bin/meta* to list the install metavision applications. The metavision player is the default for visualising and recording data.

HVGA

ls /usr/bin/prop* to list the installed prophesee applications. prophesee_player can be used to visualise and save data, if the player is not correctly visualising, you can use prophesee_viewer to get the output of the camera.

The docker also comes with installed libraries to begin development of applications which interface to the event-driven and YARP environments.

To read events over YARP:

  1. start the YARP server yarp server --write &
  2. start the atis-bridge atis-bridge-sdk
  3. open a second docker terminal
  4. check the port is open yarp name list should show /atis3/AE:o open.
  5. visualise the output on the vFramer using the yarpmanager application. Run the yarpmanager, double click the atis3-vis application, run all, and connect all. The camera output should be visualised.

Developing you own application

The recommended way to develop your own application is to mount a volume from your host machine containing the code you want to work with. See here for more information.

Follow instructions to make a default application to read events in C++ using event-driven.

Follow instructions to make a default application to read events in Python using event-driven.