docker-compose.yml

# docker-compose.yml - Composition of micro-services to run OpenDLV software.
# Copyright (C) 2016 Christian Berger
#
# This program is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 2
# of the License, or (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.

# Date: 2016-10-16

version: '3'

services:
    data:
       image: seresearch/opendlv-gallery-orb2-slam:data
       volumes:
          - data:/data
    odsupercomponent:
        image: seresearch/opendlv-on-opendlv-core-on-opendavinci-on-base-dev:latest
        volumes:
            - data:/data
        command: "/opt/od4/bin/odsupercomponent --cid=120 --verbose=1 --configuration=/data/opendlv.data/configuration"
        network_mode: host
        depends_on:
            - data

    selflocalization:
       image: seresearch/opendlv-perception-vision-orbslam2-amd64:latest
       environment:
           - DISPLAY=$DISPLAY
       volumes:
           - data:/data
           - /tmp/.X11-unix:/tmp/.X11-unix
       command: "/usr/bin/opendlv-perception-vision-orbslam2 --name=cam0 --width=2560 --height=720 --bpp=24  --cid=120 --cameraType=1 --vocFilePath=/data/media/ORBvoc.txt --Camera.fx=718.856 --Camera.fy=718.856 --Camera.cx=607.1928 --Camera.cy=185.2157 --Camera.k1=0 --Camera.k2=0 --Camera.k3=0 --Camera.p1=0 --Camera.p2=0 --Camera.fps=15 --Camera.bf=386.1448 --Camera.RGB=1 --ThDepth=35 --ORBextractor.nFeatures=2000 --ORBextractor.scaleFactor=1.2 --ORBextractor.nLevels=8 --ORBextractor.iniThFAST=20 --ORBextractor.minThFAST=7 --kittiPath=/data/kitty/00"
       network_mode: host
       depends_on:
            - data
    vehicle_viewer:
        image: seresearch/opendlv-gallery-orb2-slam:visualisation
        volumes:
            - data:/data
        ports:
            - 8081:8081
        command: "--cid=120"
        network_mode: host
        depends_on:
            - data

volumes:
  data: