zhangganlin/lsd-slam-docker

Docker for LSD-SLAM, with ubuntu 18.04

LSD-SLAM Docker Version

Based on Ubuntu 18.04 and ROS-Melodic

If you want to install LSD-SLAM directly with Ubuntu 18.04 without docker, please follow the commands in Dockerfile manually.
Orignal LSD-SLAM README can be found here.

Build Docker Image

1. Clone this repository:

git clone https://github.com/zhangganlin/lsd-slam-docker.git lsd_ws

2. Change xhost:

# Run this command every time you boot
xhost +local:root

3. Build the docker image:

cd lsd_ws
docker build -t lsd-slam .

4. Install nvidia-container-toolkit for GPU support:
   Instruction can be found at: https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html

Install LSD-SLAM inside Docker

1. Create a lsd-slam container:

docker run -it --privileged --name lsd-slam --network host \
    --env NVIDIA_VISIBLE_DEVICES=all \
    --env NVIDIA_DRIVER_CAPABILITIES=all \
    --env DISPLAY=$DISPLAY --env QT_X11_NO_MITSHM=1 \
    -v /tmp/.X11-unix:/tmp/.X11-unix \
    -v .:/root/lsd_ws \
    --gpus all  --device /dev/dri:/dev/dri \
    lsd-slam /bin/bash

2. Inside the container, install LSD-SLAM:

cd /root/lsd_ws
catkin_make

3. Inside the container, download demo dataset:

mkdir -p datasets && cd datasets
wget https://vision.in.tum.de/webshare/g/lsd/LSD_room.bag.zip
unzip LSD_room.bag.zip && rm LSD_room.bag.zip

Running LSD-SLAM

1. Restart the container if it has been stopped:

docker restart lsd-slam

2. Run roscore:

docker exec -it  --privileged lsd-slam \
    bash -c "source /opt/ros/melodic/setup.sh && \
             roscore"

3. In a new terminal, run lsd-slam:

docker exec -it  --privileged  lsd-slam \
    bash -c "source /opt/ros/melodic/setup.sh && \
             source /root/lsd_ws/devel/setup.sh && \
             rosrun lsd_slam_core \
                    live_slam image:=/image_raw \
                    camera_info:=/camera_info"

4. In a new terminal, run lsd-slam-viewer for visualization:

docker exec -it  --privileged lsd-slam \
    bash -c "source /opt/ros/melodic/setup.sh && \
             source /root/lsd_ws/devel/setup.sh && \
             rosrun lsd_slam_viewer viewer"

5. For testing, try with the example dataset (the corresponding rosbag has been already inside the docker image):

docker exec -it  --privileged  lsd-slam \
    bash -c "source /opt/ros/melodic/setup.sh && \
             source /root/lsd_ws/devel/setup.sh && \
             rosbag play /root/lsd_ws/datasets/LSD_room.bag"

Docker Tips

In case you are not familiar with docker, here are some basic docker tips.

1. The above commands create a docker container called lsd-slam. You can always check the existing containers by

docker ps -a

2. To restart a existing container (e.g. after exiting, you want to use it again, here we use lsd-slam as example), use

docker restart lsd-slam

To use this container to run other commands, use docker exec like above.

2. The -v parameter can be used to mount a local folder, but this must be done during docker run, i.e. when creating the container.

docker run -it --privileged --name lsd-slam --network host \
    --env NVIDIA_VISIBLE_DEVICES=all \
    --env NVIDIA_DRIVER_CAPABILITIES=all \
    --env DISPLAY=$DISPLAY --env QT_X11_NO_MITSHM=1 \
    -v /tmp/.X11-unix:/tmp/.X11-unix \
    -v [LOCAL_FOLDER]:[PATH_INSIDE_CONTAINER] \
    --gpus all  --device /dev/dri:/dev/dri \
    lsd-slam /bin/bash

3. Remove existing container, first make sure it has been stopped

docker stop lsd-slam

And then, remove it

docker rm lsd-slam

Notice that removing a container would NOT remove the corresponding docker image, i.e. if you want to use the image again, just create another container, which would not take much time since we have already built the docker image.

4. Remove docker image. This would delete the environment completely.

docker rmi lsd-slam