此images用于进行orbslam3 docker内部运行（注意无法开启X-11 所以禁止了显示）建议添加trajectory保存功能 用于后续运行完成后轨迹检查
相关github：
建立container：
docker run -it --net=host --gpus all -e DISPLAY=unix$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix:rw --privileged -v /dev/shm:/dev/shm -v /home/kin/Desktop/Tmp:/Datasets --name orbslam3_dis zhangkin/orbslam3 /bin/bash
container内部开两个terminal：
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/ORB_SLAM3/Examples_old/ROS
roscore
rosrun ORB_SLAM3 Stereo_Inertial Vocabulary/ORBvoc.txt Examples_old/Stereo-Inertial/EuRoC.yaml true
因为已经映射到了外部ros，所以可以在本机上进行rosbag play
rosbag play --pause V1_02_medium.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw /imu0:=/imu
示例数据集下载地址：http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets
Content type
Image
Digest
Size
1.9 GB
Last updated
over 4 years ago
docker pull zhangkin/orbslam3