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fix: bug fixes with docker run and tensorrt inference sample. #17

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fix: bug fixes with docker run and tensorrt inference sample. #17

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5 changes: 3 additions & 2 deletions docker/run_container.sh
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Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
docker rm -f ffs
docker rm -f ffs || true
xhost +local:root || true
DIR=$(pwd)/../
docker run --gpus all --env NVIDIA_DISABLE_REQUIRE=1 -it --network=host --name ffs --cap-add=SYS_PTRACE --security-opt seccomp=unconfined -v $DIR:/workspace --ipc=host -e DISPLAY=${DISPLAY} -v /tmp/.X11-unix:/tmp/.X11-unix -v /tmp:/tmp -v /home:/home -v /mnt:/mnt ffs bash
docker run --gpus all --env NVIDIA_DISABLE_REQUIRE=1 -it --network=host --name ffs --cap-add=SYS_PTRACE --security-opt seccomp=unconfined -v $DIR:/workspace --ipc=host -e DISPLAY=${DISPLAY} -e LIBGL_ALWAYS_SOFTWARE=1 -v /tmp/.X11-unix:/tmp/.X11-unix -v /tmp:/tmp -v /home:/home -v /mnt:/mnt ffs bash
3 changes: 2 additions & 1 deletion scripts/run_demo_tensorrt.py
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Expand Up @@ -27,6 +27,7 @@
parser.add_argument('--denoise_radius', type=float, default=0.03, help='radius to use for outlier removal')
parser.add_argument('--get_pc', type=int, default=1, help='save point cloud output')
parser.add_argument('--zfar', type=float, default=100, help="max depth to include in point cloud")
parser.add_argument('--image_size', type=int, nargs='+', default=[448, 640], help="image size, should match the image size used to generate the tensorrt engine")
args = parser.parse_args()

set_logging_format()
Expand Down Expand Up @@ -96,7 +97,7 @@
lines = f.readlines()
K = np.array(list(map(float, lines[0].rstrip().split()))).astype(np.float32).reshape(3,3)
baseline = float(lines[1])
K[:2] *= np.array([fx, fy])
K[:2] *= np.array([[fx], [fy]])
depth = K[0,0]*baseline/disp
np.save(f'{args.out_dir}/depth_meter.npy', depth)
xyz_map = depth2xyzmap(depth, K)
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