/orbslam3_docker

ORBSLAM 3 docker with GUI

Primary LanguageShell

ORB_SLAM3 docker

This docker is based on Ros Noetic Ubuntu 20. If you need melodic with ubuntu 18 checkout #8fde91d

There are two versions available:

  • CPU based (Xorg Nouveau display)
  • Nvidia Cuda based.

To check if you are running the nvidia driver, simply run nvidia-smi and see if get anything.

Based on which graphic driver you are running, you should choose the proper docker. For cuda version, you need to have nvidia-docker setup on your machine.

Compilation and Running

Steps to compile the Orbslam3 on the sample dataset:

  • ./download_dataset_sample.sh
  • build_container_cpu.sh or build_container_cuda.sh depending on your machine.

Now you should see ORB_SLAM3 is compiling.

  • Download A sample MH02 EuRoC example and put it in the Datasets/EuRoC/MH02 folder
mkdir -p Datasets/EuRoC 
wget -O Datasets/EuRoC/MH_02_easy.zip http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_02_easy/MH_02_easy.zip
unzip Datasets/EuRoC/MH_02_easy.zip -d Datasets/EuRoC/MH02

To run a test example:

  • docker exec -it orbslam3 bash
  • cd /ORB_SLAM3/Examples && bash ./euroc_examples.sh It will take few minutes to initialize. Pleasde Be patient.

You can use vscode remote development (recommended) or sublime to change codes.

  • docker exec -it orbslam3 bash
  • subl /ORB_SLAM3