danieltobon43/dbscan-octrees
DBScan algorithm using Octrees to cluster 3D points in a space with PCL Library 1.9.1 - Ubuntu 20.04
Image
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danieltobon43/dbscan-octrees repository overview
DBScan-Octrees-PCL-1.12.1
This project is based on pcl-docker-1.12.1 and uses dbscan octrees from here.
Docker multi-stage graph generated with: dockerfilegraph
In order to pass a pcd file to the docker container, you must mount a folder between the host machine and the pcd location folder in the container.
Docker image
You can either choose to build the image by yourself or pull it from the docker hub
Pull from docker-hub
docker pull danieltobon43/dbscan-octrees:1.1-alpine3.15
build from Dockerfile
docker build -f Dockerfile -t dbscan:1.1 .
How to run dbscan docker image
To run this image, you can execute the command below or create a .sh file
docker run --rm -it \
--volume=/tmp/.X11-unix:/tmp/.X11-unix:rw \
--volume=/tmp/.docker.xauth:/tmp/.docker.xauth:rw \
--env="XAUTHORITY=/tmp/.docker.xauth" \
--env="DISPLAY" \
--name="dbscan" \
--cap-add sys_ptrace \
-p 127.0.0.1:2222:22 \
--user=pcl \
--volume=[PATH TO YOUR PCD FOLDER]:/home/pcl/project/pcd \
-t danieltobon43/dbscan-octrees:1.1-alpine3.15 --cloudfile pcd/[YOUR PCD FILENAME]
example
docker run --rm -it \
--volume=/tmp/.X11-unix:/tmp/.X11-unix:rw \
--volume=/tmp/.docker.xauth:/tmp/.docker.xauth:rw \
--env="XAUTHORITY=/tmp/.docker.xauth" \
--env="DISPLAY" \
--name="dbscan" \
--cap-add sys_ptrace \
-p 127.0.0.1:2222:22 \
--user=pcl \
--volume=`pwd`/pcd:/home/pcl/project/pcd \
-t danieltobon43/dbscan-octrees:1.1-alpine3.15 --cloudfile pcd/Tree2.pcd
Parameters
These parameters are passed to the docker container.
-h --help shows help message and exits [default: false]
-v --version prints version information and exits [default: false]
--cloudfile input cloud file [required]
--octree-res octree resolution [default: 120]
--eps epsilon value [default: 40]
--minPtsAux minimum auxiliar points [default: 5]
--minPts minimum points [default: 5]
-o --output-dir output dir to save clusters [default: "-"]
--ext cluster output extension [pcd, ply, txt, xyz] [default: "pcd"]
-d --display display clusters in the pcl visualizer [default: false]
--cal-eps calculate the value of epsilon with the distance to the nearest n points [default: false]
Dockerfile
# vtk 9.0
# error: vtkContextDevice2D.cxx:32 WARN| Error: no override found for 'vtkContextDevice2D
# https://discourse.vtk.org/t/two-questions-about-new-module-system/2864/16
# Build stage
FROM danieltobon43/pcl-docker:1.12.1-alpine3.15-All as build_dbscan
# ======== Compile dbscan project ========
RUN apk --no-cache add cmake make g++
COPY . /tmp
WORKDIR /tmp
RUN cmake -DCMAKE_INSTALL_PREFIX=/tmp/install \
-S . -Bbuild && make -C build/ -j$(nproc) --no-print-directory && \
make -C build/ install --no-print-directory
# Runtime
FROM danieltobon43/pcl-docker:1.12.1-alpine3.15-All as runtime
ENV MESA_LOADER_DRIVER_OVERRIDE i965
COPY --from=build_dbscan /tmp/install /usr
# ======== Run binary file ========
ENTRYPOINT ["app"]
Tag summary
Content type
Image
Digest
Size
429.3 MB
Last updated
almost 4 years ago
docker pull danieltobon43/dbscan-octrees:1.1-alpine3.15