depth_optimization/docker/README.md at main · Vanvitelli-Robotics/depth_optimization

DEPTH OPTIMIZER in a Docker Container

You can run the depth optimization directly in a docker container with Ubuntu 22.04 with ROS2 Humble and Python 3.10.

Download the depth optimzer repo

git clone https://github.com/Vanvitelli-Robotics/depth_optimization.git depth_optimization

Build the docker image

cd depth_optimization/docker
docker build -t depth-optimizer:humble-v1 -f Dokerfile.humble ..

This will take several minutes and requires an internet connection.

Run the container
```
./run_docker.sh [name] [host dir] [container dir]
```
Parameters:
- name is an optional field that specifies the name of this image. By default, it is depth-optimizer-v2. By using different names, you can create multiple containers from the same image.
- host dir and container dir are a pair of optional fields that allow you to specify a mapping between a directory on your host machine and a location inside the container. This is useful for sharing code and data between the two systems. By default, it maps the directory containing dope to /root/ros2ws/src/depth_optimization in the container.
  
  Only the first invocation of this script with a given name will create a container. Subsequent executions will attach to the running container allowing you -- in effect -- to have multiple terminal sessions into a single container.
Install conda environment Inside the container
```
cd root/ros2ws/src/
conda deactivate
colcon build
run_depth_optimizer_ros2
```
that you can use to activate in the correct way the conda environment and launch the ros2 server node for the depth optimization.