Merge pull request raulmur#2 from monoDriveIO/dockerize

Dockerize

Dockerfile

@@ -0,0 +1,86 @@
+# docker image to run ORB-SLAM2
+FROM ubuntu:18.04
+MAINTAINER devin@monodrive.io
+
+# setup
+ENV BASE_DIR /home/vo
+ENV DEBIAN_FRONTEND noninteractive
+WORKDIR ${BASE_DIR}
+RUN apt-get update && apt-get upgrade -y
+RUN apt-get install -y \
+    git \
+    wget
+
+# c++
+RUN apt-get install -y \
+    build-essential \
+    gcc \
+    cmake
+
+# pangolin
+RUN apt-get install -y \
+    libgl1-mesa-dev \
+    libglew-dev
+
+RUN git clone https://github.com/stevenlovegrove/Pangolin.git ${BASE_DIR}/pangolin
+WORKDIR ${BASE_DIR}/pangolin/build
+RUN cmake .. -DCMAKE_BUILD_TYPE=Release
+RUN cmake --build . -- -j8
+
+# opencv
+RUN apt-get install -y \
+    pkg-config \
+    libgtk2.0-dev \
+    libavcodec-dev \
+    libavformat-dev \
+    libswscale-dev
+
+RUN git clone https://github.com/opencv/opencv.git --branch 3.2.0 --depth 1 ${BASE_DIR}/opencv
+WORKDIR ${BASE_DIR}/opencv/build
+RUN cmake .. -DCMAKE_BUILD_TYPE=Release
+RUN make -j8
+RUN make install
+
+# eigen
+WORKDIR ${BASE_DIR}/dump
+RUN wget http://bitbucket.org/eigen/eigen/get/3.3.7.tar.gz
+RUN tar -xzf 3.3.7.tar.gz
+RUN mv eigen-eigen-323c052e1731 /usr/local/include/eigen
+
+# orb-slam2
+COPY Thirdparty ${BASE_DIR}/orbslam2/Thirdparty
+COPY Vocabulary ${BASE_DIR}/orbslam2/Vocabulary
+COPY cmake_modules ${BASE_DIR}/orbslam2/cmake_modules
+COPY include ${BASE_DIR}/orbslam2/include
+
+COPY CMakeLists.txt ${BASE_DIR}/orbslam2/CMakeLists.txt
+
+# orb-slam2 // dbow2
+WORKDIR ${BASE_DIR}/orbslam2/Thirdparty/DBoW2/build
+RUN cmake .. -DCMAKE_BUILD_TYPE=Release
+RUN make -j8
+
+# orb-slam2 // g2o
+WORKDIR ${BASE_DIR}/orbslam2/Thirdparty/g2o/build
+RUN cmake .. -DCMAKE_BUILD_TYPE=Release
+RUN make -j8
+
+# orb-slam2 // vocab
+WORKDIR ${BASE_DIR}/orbslam2/Vocabulary
+RUN tar -xf ORBvoc.txt.tar.gz
+
+# orb-slam // source
+COPY src ${BASE_DIR}/orbslam2/src
+COPY Examples ${BASE_DIR}/orbslam2/Examples
+
+# orb-slam2 // build
+WORKDIR ${BASE_DIR}/orbslam2/build
+RUN cmake .. -DCMAKE_BUILD_TYPE=Release
+RUN make -j8
+
+# add etc files (these will need to be placed before building)
+ADD ./etc ${BASE_DIR}/etc
+
+# runtime
+WORKDIR ${BASE_DIR}
+CMD ./orbslam2/Examples/Monocular/mono_kitti orbslam2/Vocabulary/ORBvoc.txt etc/monoDrive.yaml workspace/kitti/dataset/sequences/00 workspace/orbslam2/keyframes.txt

Examples/Monocular/mono_kitti.cc

@@ -36,9 +36,9 @@ void LoadImages(const string &strSequence, vector<string> &vstrImageFilenames,
 
 int main(int argc, char **argv)
 {
-    if(argc != 4)
+    if(argc != 5)
     {
-        cerr << endl << "Usage: ./mono_kitti path_to_vocabulary path_to_settings path_to_sequence" << endl;
+        cerr << endl << "Usage: ./mono_kitti path_to_vocabulary path_to_settings path_to_sequence path_to_output_file" << endl;
         return 1;
     }
 
@@ -50,7 +50,7 @@ int main(int argc, char **argv)
     int nImages = vstrImageFilenames.size();
 
     // Create SLAM system. It initializes all system threads and gets ready to process frames.
-    ORB_SLAM2::System SLAM(argv[1],argv[2],ORB_SLAM2::System::MONOCULAR,true);
+    ORB_SLAM2::System SLAM(argv[1],argv[2],ORB_SLAM2::System::MONOCULAR,false);
 
     // Vector for tracking time statistics
     vector<float> vTimesTrack;
@@ -119,7 +119,7 @@ int main(int argc, char **argv)
     cout << "mean tracking time: " << totaltime/nImages << endl;
 
     // Save camera trajectory
-    SLAM.SaveKeyFrameTrajectoryTUM("KeyFrameTrajectory.txt");    
+    SLAM.SaveKeyFrameTrajectoryTUM(argv[4]);
 
     return 0;
 }