Skip to content

Latest commit

 

History

History
85 lines (60 loc) · 2.42 KB

Docker.md

File metadata and controls

85 lines (60 loc) · 2.42 KB

Docker Tutorial

Requirements

  1. Either sudo privilege or in docker group if you wished to run in docker.

    sudo usermod -aG docker $(whoami)
newgrp docker # or logout and login

  2. docker with nvidia runtime installed.

    • For installation on docker with nvidia runtime, please check this link.

  3. Linux OS, or even WSL2 on Windows.

Build

  1. Clone the repo.

    git clone https://github.com/MarvinChung/Orbeez-SLAM.git
git submodule update --init --recursive

  2. Grab the image by either pulling from docker hub or building from Dockerfile.

    • Pull from docker hub (For cuda version 11.7, architecture RTX 30X0)

      docker pull mingupingu/orbeez-slam:latest

    • Build from Dockerfile You might need to change some config in the Dockerfile. The default Dockerfile is for cuda 11.7 and RTX 30X0.

      FROM nvidia/cuda:11.7.0-devel-ubuntu22.04
WORKDIR /root

ENV PATH="/usr/local/cuda-11.7/bin:$PATH"
ENV LD_LIBRARY_PATH="/usr/local/cuda-11.7/lib64:$LD_LIBRARY_PATH"
ENV TCNN_CUDA_ARCHITECTURES=86

      Change the 11.7 to your compatiable version (https://hub.docker.com/r/nvidia/cuda/tags) and TCNN_CUDA_ARCHITECTURES=XX based on

      H100 40X0 30X0 A100 20X0 TITAN V / V100 10X0 / TITAN Xp 9X0 K80
      90 89 86 80 75 70 61 52 37

      Then build the Dockerfile.

      cd Orbeez-SLAM
docker build -t orbeez-slam:latest .

Run

  • For WSL2 with GUI support, run the container with

    docker run --name orbeezslam --gpus=all -it -v $(pwd):/program -v /data:/data -v /tmp/.X11-unix:/tmp/.X11-unix -v /mnt/wslg:/mnt/wslg -e DISPLAY -e WAYLAND_DISPLAY -e XDG_RUNTIME_DIR -e PULSE_SERVER mingupingu/orbeez-slam /bin/bash

    • Build

      mkdir build
cmake . -B build
cmake --build build --parallel $(nproc --all)

  • If you do not require GUI support, run the container with

    docker run --name orbeezslam --gpus=all -it -v $(pwd):/program -v /data:/data mingupingu/orbeez-slam /bin/bash

    • Build

      mkdir build
cmake . -B build -DORBEEZ_BUILD_WITH_GUI=OFF
cmake --build build --parallel $(nproc --all)