NOTE: This is a fork of xdspacelab/openvslam. The original repository is no longer available. Please read the official statement of termination carefully and understand it before using this. The similarities with ORB_SLAM2 in the original version are not removed. We share this code on GPLv3 License as in ORB_SLAM2.

Clone repo

git clone https://github.com/MapsHD/openvslam-fork.git

Prepare dataset

Download files from Release

Dataset directory structure:

- dataset
  - images/
  - config_openvslam.yaml

Build container

docker build -t vslam -f Dockerfile . --build-arg NUM_THREADS=4

Run container

Run on Linux

sudo xhost +
docker run -it --rm --device=/dev/dri:/dev/dri -e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix:ro --volume /on_the_host/data/path/to/dataset:/dataset:rw vslam
./build/run_image_slam -v /openvslam/orb_vocab.dbow2 -i /dataset/images/ -c /dataset/config_openvslam.yaml --no-sleep --auto-term --map-db /dataset/map.msg
python3 scripts/openvslam2json.py /dataset/map.msg /dataset/map.json
cat /dataset/map.json

Run on Windows

1. Start XLaunch

2. Using WSL terminal:

export DISPLAY=127.0.0.1:0.0
docker run --rm -it -e DISPLAY=host.docker.internal:0.0 -e LIBGL_ALWAYS_INDIRECT=0 --volume /mnt/c/on_the_host/data/path/to/dataset:/dataset:rw vslam
export DISPLAY=host.docker.internal:0.0
./build/run_image_slam -v /openvslam/orb_vocab.dbow2 -i /dataset/images/ -c /dataset/config_openvslam.yaml --no-sleep --auto-term --map-db /dataset/map.msg
python3 scripts/openvslam2json.py /dataset/map.msg /dataset/map.json
cat /dataset/map.json