docker build . -t slam:cubeslam
(For non-GPU users) docker build . -f Dockerfile_non_cuda -t slam:cubeslam
# Extract data and move the 'seq_07' folder into the project base folder, and then open 2 terminals
docker run -it --env="DISPLAY=$DISPLAY" --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" --env="XAUTHORITY=$XAUTH" --volume="$XAUTH:$XAUTH" --runtime=nvidia --volume="`pwd`:/data" --net=host --privileged slam:cubeslam
# In the first terminal
roslaunch orb_object_slam mono.launch
# In the second terminal
rosbag play /data/seq_07/left_full_gray.bag --clock -r 0.5
https://drive.google.com/open?id=1FrBdmYxrrM6XeBe_vIXCuBTfZeCMgApL
