Docker for Visual Inertial Odometry Development

This is the Docker image for Visual Inertial Odometry development.

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Build Images

The environments can be built with docker-compose as follows:

docker-compose build

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Configuration

Volume Mounting

Local directories for source code and data are configured in docker-compose.yml

    volumes:
      # workspace:
      - ${PWD}/workspace/assignments:/workspace/assignments
      # data:
      - ${PWD}/workspace/data:/workspace/data

Network Port Mapping

Config port mappings for supervisord monitor and VNC client access in docker-compose.yml

    ports:
      # standard vnc client:
      - 45901:5900
      # supervisord admin:
      - 49001:9001

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Up and Running

Launch VNC Instance

# for cpu instance -- use docker-compose
docker-compose up workspace-vnc-cpu
# for gpu instance -- use docker run
./launch-visual-inertial-odometry-gpu.sh

Health Check

Access supervisord monitor to make sure all processes have been started: http://[HOST_IP]:49001

VNC Access:

You can access the desktop with standard VNC client

VNC Client

On the system you can use

• Remmina on Ubuntu
• TightVNC Viewer on Windows

to create a VNC session to connect to: http://[HOST_IP]:45901

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