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Tandem Docker

This is the docker environment setup tutorial for TUM Tandem, it supports remote OpenGL display, thus you can render Pangolin window with remote ssh.

Build Image

Run the following commands to build the image:

cd docker
./build-dokcer-image.bash

and run

./run-docker-container.bash

to run the container.

Please note that you can customize your own ssh port by modifying the run-docker-container.bash file:

docker run --rm \
  --name tandem \
  --ipc=host \
  --gpus all \
  --privileged \
  -p 3751:22 \         <======= please choose your own port
  -v /tmp/.X11-unix:/tmp/.X11-unix:rw \

Remove the --rm flag in case you don't want to erase all the changes and data after you stop the container.

You can also pull the built image from dockerhub.io:

docker pull pytholic/tumtandem:tumtandem

Run

Then in a new remote or local terminal, run the following command to connect the remote environment:

ssh -p 3751 work@xx.xx.xx.xx
# default password: work123

Or if you already docker run run once, you can simple do:

docker start <container name>

Add you camera calibration file in the specified format.

Run the following comand in the terminal.

build/bin/tandem_dataset \
      preset=dataset \
      result_folder=path/to/save/results \
      files=path/to/scene/images \
      calib=path/to/scene/camera.txt \
      mvsnet_folder=exported/tandem \
      mode=1

Bash script

Alternatively, you can use bash scripts insice `/utils.

Put your input video and calib.txt in the same folder as run_video.sh. Then run the following command in the terminal.

Set executable permission on the script.

chmod +x run_video.sh
./run_video.sh --input <input video path>

If your input are images, then use run_image.sh

./run_image.sh --input <path to images folder>

Note

Display

In case you get some X11 related error, rememebr that you need to set display inside your container same as your host display.

# In the host shell
echo $DISPLAY
:1

# In the container shell
echo $DISPLAY
:0

export DISPLAY=:1

If docker start is not working, run with -ai flag.

docker start -ai tandem

Run the following if the error is related to X11 error.

xhost + local:

Ref -> https://stackoverflow.com/questions/73490184/sudo-nautilus-gives-authorization-required-but-no-authorization-protocol-specif

Input size

Currently cva-mvsnet model supports 640x480 input size. If you want to input different size, follow instructions here to export the model with desired dimensions. Update the path while running tandem accordingly.

Nvidia container toolkit

In case you face some GPU supported related issues, rememebr that you need to install nvidia-container-toolkit on your host.

distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \
      && curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
      && curl -s -L https://nvidia.github.io/libnvidia-container/$distribution/libnvidia-container.list | \
            sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
            sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list

distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \
      && curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
      && curl -s -L https://nvidia.github.io/libnvidia-container/experimental/$distribution/libnvidia-container.list | \
         sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
         sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list

sudo apt-get update
sudo apt-get install -y nvidia-docker2
sudo systemctl restart docker

# Test
sudo docker run --rm --gpus all nvidia/cuda:11.6.2-base-ubuntu20.04 nvidia-smi