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Introduction | I want vSLAM now ! | General info | Prerequisites | Installation | How-tos

Introduction

Reference

[ORB-SLAM3] Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M. M. Montiel and Juan D. Tardós, ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM, IEEE Transactions on Robotics 37(6):1874-1890, Dec. 2021. PDF. Github.

What's that repo?

Just a Docker image that makes you skip the whole ORB-SLAM 3 installation process. Simply run a container and start vSLAM examples. No additional applications, no fancy dependencies... just the source code! Moreover, all the images and their build are tested on 3 different machines with Ubuntu 20.04 to ensure they work properly!

Solved common issues (the real bois will know) :

  • what(): Pangolin X11: Failed to create an OpenGL context
  • OpenCV > 4.4 not found
  • Container that keeps restarting
  • docker: Error response from daemon: could not select device driver "" with capabilities: [[gpu]]

This repository contains release info and advanced image manipulation. See the project's Dockerhub for more quick usage info.

I want vSLAM now

  1. Make sure to have the basic docker dependencies mentioned here.

  2. Execute this commant to will pull the image from Docker hub and run a container (needs a GPU for Pangolin, container removed after exit). Make sure you are logged in to your dockerhub account.

sudo xhost +local:root && docker run --privileged --name orb-3-container --rm -p 8087:8087 -e DISPLAY=$DISPLAY -e QT_X11_NO_MITSHM=1 -v /tmp/.X11-unix:/tmp/.X11-unix -v /dev:/dev:ro --gpus all -it lmwafer/orb-slam-3-ready:1.0-ubuntu18.04
  1. Execute this inside the container to start a real time demo (with Intel D435i plugged in)
/dpds/ORB_SLAM3/Examples/Monocular/mono_realsense_D435i /dpds/ORB_SLAM3/Vocabulary/ORBvoc.txt /dpds/ORB_SLAM3/Examples/Monocular/RealSense_D435i.yaml

You can run every example presented above with Realsense cameras. Everything in the image is already built!

General info

The image is based on three image layers : Ubuntu 18.04, realsense-ready and orb-slam-3-ready.

The realsense-ready layer only adds the Intel Realsense SDK 2.0. For now, this layer is mandatory but more camera flexibility will be added in the future. You can still try to change the FROM image, see below.

The images tag follows this template : <image version>-<os name><os version>. <os name> is the name of the Docker os not the system one, same thing for <os version>. <image version> is specific to <os name><os version>. That means image version refers to the work advancement for the Docker version.

Every dependency is installed in /dpds directory. Reach original ORB_SLAM3 directory with

cd /dpds/ORB_SLAM3/

You may want better control of what's inside the image. To this matter you will find here :

  • Image Dockerfile. Note that orb-slam-3-ready lays on top of realsense-ready. Modify that by changing FORM instruction in Dockerfile-orb. Don't forget general usage dependencies that came along realsense-ready image !

  • docker-compose.yml to start container automatically and for Kubernetes-like deployement. Note that stopping a container removes it. An external app directory is linked to the containers /app one in order to provide a permanent save point.

  • Makefile to provide usual commands

Image prerequisites

  • Ubuntu 20.04

  • Docker (tested with Docker 20.10.7), see Install Docker Engine

  • Docker Compose (tested with Docker Compose 1.29.2), see Install Docker Compose You may have a /usr/local/bin/docker-compose: no such file or directory error. In this case, use

    sudo mkdir /usr/local/bin/docker-compose

    before restarting the installation process

  • Nvidia Container Toolkit (tested with ubuntu20.04 distribution), see NVIDIA Container Toolkit Installation Guide

  • A PC with GPU. Use the following to list available graphics units

    lshw -c display

Image installation

docker pull lmwafer/orb-slam-3-ready:<desired tag>

For now, there are two available tags : 1.0-ubuntu18.04 and 1.1-ubuntu18.04.

Image usage

All the commands need to be run in orb-slam-3-ready directory.

Get inside a freshly new container (basically up + enter)

make

Start an orb-slam-3-container (uses docker-compose.yml)

make up

Enter running orb-slam-3-container

make enter

Stop running orb-slam-3-container (and removes it, by default only data in /app is saved here in app directory)

make down

Build orb-slam-3-ready image (uses Dockerfile)

make build