Re: Docker images supporting VIN-Fusion odom strategy etc

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Docker-images-supporting-VIN-Fusion-odom-strategy-etc-tp10332p10343.html

For the standalone benchmark, we have this Dockerfile: https://github.com/introlab/rtabmap/blob/master/docker/jfr2018/Dockerfile

However, as you can see in it, some dependencies are incompatible when included at the same time in rtabmap, so multiple versions of rtabmap had to be created. Making rtabmap_ros supporting all VO at the same time is then not possible unless creating multiple rtabmap_odom packages with different suffixes, which become messy pretty fast.

I would recommend to create different rtabmap_ros docker images including a single VO dependency at a time, to do something like:

docker run rtabmap_ros_orbslam2 rosrun rtabmap_odom rgbd_odometry --Odom/Strategy=5 ...
docker run rtabmap_ros_orbslam3 rosrun rtabmap_odom rgbd_odometry --Odom/Strategy=5 ...
docker run rtabmap_ros_msckf_vio rosrun rtabmap_odom rgbd_odometry --Odom/Strategy=8 ...
docker run rtabmap_ros_vins_fusion rosrun rtabmap_odom rgbd_odometry --Odom/Strategy=9 ...
docker run rtabmap_ros_openvins rosrun rtabmap_odom rgbd_odometry --Odom/Strategy=10 ...

You may refer to that dockerfile or this one (latest) to see which version to use and the patches to apply on the dependencies.

cheers,
Mathieu