ORB-SLAM3-Install

Files to run ORB-SLAM3 from a docker container

Dependencies

Docker

Build Docker Container

To buildthe docker container, run the following commands

git clone https://github.com/SaundersJE97/ORB-SLAM3-Install.git
cd orb-slam3-install
docker build -t orbslam3 .

Install EuRoC dataset

cd orb-slam3-install
mkdir Datasets/EuRoC
wget http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_01_easy/MH_01_easy.zip -O Datasets/EuRoC/MH01.zip
unzip Datasets/EuRoC/MH01.zip -d Datasets/EuRoC/MH01 
rm Datasets/EuRoC/MH01.zip

Ensure x11 permissions to view output of ORB-SLAM3

XSOCK=/tmp/.X11-unix
XAUTH=/tmp/.docker.xauth
touch $XAUTH
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
xhost +local:docker

Run docker

cd orb-slam3-install
docker run -it --privileged --net=host --ipc=host --name="orbslam3_test_2" --gpus=all -e "DISPLAY=$DISPLAY" -e "QT_X11_NO_MITSHM=1" -v "/tmp/.X11-unix:/tmp/.X11-unix:rw" -e "XAUTHORITY=$XAUTH" -e ROS_IP=127.0.0.1 --cap-add=SYS_PTRACE -v `pwd`/Datasets:/Datasets orbslam3

Running from EuRoC dataset

Usage: ./stereo_inertial_euroc path_to_vocabulary path_to_settings path_to_sequence_folder_1 path_to_times_file_1 (path_to_image_folder_2 path_to_times_file_2 ... path_to_image_folder_N path_to_times_file_N)

./Examples/Stereo-Inertial/stereo_inertial_euroc Vocabulary/ORBvoc.txt /Examples/Stereo-Inertial/RealSense_D435i.yaml

Running from a RealSense camera TODO:need to get a camera working.

Run a quick test using stereo_inertial_realsense_D435i bash script ./stereo_inertial_realsense_D435i path_to_vocabulary path_to_settings (trajectory_file_name)

./Examples/Stereo-Inertial/stereo_inertial_realsense_D435i Vocabulary/ORBvoc.txt /Examples/Stereo-Inertial/RealSense_D435i.yaml