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How to start 3D_BBS with Docker

Docker makes it easy to configure the configuration required to run 3D_BBS.
Before you start 3D_BBS with docker, you should install Docker and NVIDIA Container Toolkit in your PC.
Also, to install CUDA 12.0 from inside docker, the NVIDIA driver version must be 525.60.11 or higher.

1. Make 3D_BBS Docker image

You could also make docker image directly with provieded Dockerfile.

Move the terminal path to /docker and execute the following command.

cd docker

docker build -t 3d_bbs:latest .

3d_bbs:latest is just example of this docker image, you can replace it with the image name you want.

After the image is created, you can execute docker images command to view the following results from the terminal.

REPOSITORY             TAG               IMAGE ID       CREATED             SIZE
3d_bbs                 latest            ece4f57ca14b   48 minutes ago      13.3GB

Docker image information

Version
Ubuntu 22.04
NVIDIA driver 525.60.11
CUDA 12.0
Cudnn 8.0
Cmake 3.27.9
Eigen 3.4.0
PCL 1.12.1

2. Make 3D_BBS docker container

When you create a docker container, you need several options to use the GUI and share folders.

To make this easier to manage, you can use the container_run.sh file.
container_run.sh contains various container options and GUI settings.

You can create your own docker container with the following command.

sudo chmod -R 777 container_run.sh

./container_run.sh <container_name> <image_name:tag>

⚠️ You should change {container_name}, {docker image} to suit your environment.

For example,

 ./container_run.sh 3d_bbs_container 3d_bbs:latest

If you have successfully created the docker container, the terminal output will be similar to the below.

==============3D BBS Docker Env Ready================
root@multirobot1-CILAB:~/workspace#

If the docker volume sharing went well, the ls command should result in something like the following.

root@multirobot1-CILAB:~/workspace# ls
CMakeLists.txt  LICENSE  README.md  bbs3d  build  docker  figs  test  test_data

⚠️ You'll need to set the test_data folder as above to make it work for you. Also, note that the absolute path in the config file will follow the absolute path inside the docker container!

For example of test.yaml,

################[Necessary]################
## Folder Paths
target_clouds: "/root/workspace/test_data/target"
source_clouds: "/root/workspace/test_data/source"
output_folder: "/root/workspace/test_data/output"

Setting up the environment is done! Follow the readme to build 3d_bbs.

Exit from docker container

root@multirobot1-CILAB:~/workspace# exit

Start docker

docker start <container_name>
docker attach <container_name>

For example,

docker start 3d_bbs_container
docker attach 3d_bbs_container