Docker下运行ORB-Slam2

2024-02-24 16:56:34

1 硬件介绍

主机：
–系统：ubuntu 18.04
–显卡：NVIDIA GeForce GT 1030 驱动版本：460.80

2 软件安装：

2.1 docker

参考：https://docs.docker.com/engine/install/ubuntu/

sudo apt-get remove docker docker-engine docker.io containerd runc
sudo apt-get update
sudo apt-get install \
    apt-transport-https \
    ca-certificates \
    curl \
    gnupg \
    lsb-release
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /usr/share/keyrings/docker-archive-keyring.gpg
echo \
  "deb [arch=amd64 signed-by=/usr/share/keyrings/docker-archive-keyring.gpg] https://download.docker.com/linux/ubuntu \
  $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
sudo apt-get update
sudo apt-get install docker-ce docker-ce-cli containerd.io
sudo docker run hello-world # check docker installed success
sudo groupadd docker
sudo usermod -aG docker $USER
newgrp docker
docker run hello-world # Verify that you can run docker commands without sudo

2.2 libnvidia-container

参考：
https://nvidia.github.io/libnvidia-container/
https://www.cnblogs.com/journeyonmyway/p/11234572.html

DIST=$(. /etc/os-release; echo $ID$VERSION_ID)
curl -s -L https://nvidia.github.io/libnvidia-container/gpgkey | \
  sudo apt-key add -
curl -s -L https://nvidia.github.io/libnvidia-container/$DIST/libnvidia-container.list | \
  sudo tee /etc/apt/sources.list.d/libnvidia-container.list
sudo apt-get update
sudo apt-get install nvidia-container-toolkit
sudo apt-get install libnvidia-container-tools
sudo systemctl restart docker
docker run --gpus all nvidia/cuda:9.0-base nvidia-smi # check nvidia container installed success

2.3 orbslam2的导入

宿主机软件安装：

sudo apt install  libglew-dev
sudo apt install libglu1-mesa-dev

orbslam2 docker项目
继承：
https://gitee.com/wycan/orbslam2_runin_docker
修改：
https://gitee.com/feisonzl/orbslam2_runin_docker/commit/93a6d266c4ddc2c067a3a6cd786f13e88cb10470

3.小结

本次在docker中成功运行ORB-SLAM2，历经坎坷，自己本身在工作，林林总总花了两个周末才最终run起来，感谢各路大神提供的文章，也希望给需要的小伙伴一些参考

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