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README_CN.md

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Note!

Library Version:

  • EIGEN3_VERSION="3.1.0"
  • Pangolin_VERSION="v0.6"
  • OPENCV_VERSION="3.2.0"

Not support ROS.

ORB-SLAM3-Docker

Install Docker

执行下列指令安装 docker

curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /usr/share/keyrings/docker-archive-keyring.gpg
echo "deb [arch=amd64 signed-by=/usr/share/keyrings/docker-archive-keyring.gpg] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
sudo apt-get update
sudo apt-get install docker-ce docker-ce-cli containerd.io

将 docker 加入用户组，解决每次运行 Docker 输入 sudo

# 创建 docker 用户组
sudo groupadd docker
# 添加当前用户加入 docker 用户组
sudo usermod -aG docker ${USER}
# 重启 docker 服务
sudo systemctl restart docker
# 切换或者退出当前账户再从新登入，测试
docker ps

Options

方法一: 考虑到网络环境，建议将依赖库先下载，修改 Copy.Dockerfile 里的路径，然后进行安装

# docker build -t xhglz/cvlife:orbslam3 -f Docker/Dockerfile .
docker build -t xhglz/cvlife:orbslam3 -f Docker/Copy.Dockerfile .

方法二:利用 docker 镜像导出与加载 通过[百度网盘]下载镜像包：

# 导出
# docker save -o cvlife_orbslam3.tar xhglz/cvlife:orbslam3
# docker save xhglz/cvlife:orbslam3 | gzip > cvlife_orbslam3.tar.gz
# 加载
gunzip -c cvlife_orbslam3.tar.gz | docker load

Compile

下载课程注释的代码

git clone https://github.com/electech6/ORB_SLAM3_detailed_comments.git

修改 run_melodic_orbslam3.sh 中 ORB-SLAM3 的绝对路径，进入 Docker

./run_melodic_orbslam3.sh

对 build.sh 文件增加可执行属性

chmod +x build.sh

编译

./build.sh

Run

在 run_melodic_orbslam3.sh 修改代码和数据目录

./run_melodic_orbslam3.sh # 进入容器
cd Examples 

# Stereo Examples
./Stereo/stereo_tum_vi ../Vocabulary/ORBvoc.txt Stereo/TUM_512.yaml ../dataset-room3_512_16/mav0/cam0/data ../dataset-room3_512_16/mav0/cam1/data Stereo/TUM_TimeStamps/dataset-room3_512.txt dataset-room3_512_stereo

# Stereo-Inertial Examples
./Stereo-Inertial/stereo_inertial_tum_vi ../Vocabulary/ORBvoc.txt Stereo-Inertial/TUM_512.yaml ../dataset-room3_512_16/mav0/cam0/data ../dataset-room3_512_16/mav0/cam1/data Stereo-Inertial/TUM_TimeStamps/dataset-room3_512.txt Stereo-Inertial/TUM_IMU/dataset-room3_512.txt dataset-room3_512_stereoi