monopointcloud

A repository for the paper validating crowdsourced monocular pointcloud generation

Setup remote server and local python client

To start a remote server for carla and start agent from local computer:

On the remote machine

1. Install nvidia drivers on the server
   1. For V100: https://docs.nvidia.com/datacenter/tesla/tesla-installation-notes/index.html
2. Set up ssh
   1. ssh-keygen -t rsa
   2. cd ~/.ssh
   3. cat id_rsa.pub
   4. Copy the public id to the local computer's authorized keys file
3. sudo apt-get install docker
4. sudo docker pull carlasim/carla:0.9.13
   (Note: you can replace "0.9.13" with any other version, but make sure that the versions on the remote and local computers match)
5. sudo docker run --privileged --gpus all --net=host -v /tmp/.X11-unix:/tmp/.X11-unix:rw carlasim/carla:0.9.13 /bin/bash ./CarlaUE4.sh -RenderOffScreen
   (Note: replace 0.9.13 with the installed version)
   (Note: -RenderOffScreen starts the carla server in headless version)
   For further information see: https://carla.readthedocs.io/en/latest/build_docker/
6. ssh -R 2000:localhost:2000 -R 2001:localhost:2001 -R 2002:localhost:2002 <user@local>

On the local machine

1. To install carla follow the steps described in: https://carla.readthedocs.io/en/latest/start_quickstart/#a-debian-carla-installation
2. cd /opt/carla-simulator/PythonAPI/examples/
3. python3 manual_control.py