After run container, i can not colcon build for running DynoSAM

[whoami1230321-dotcom]

I am using Dockerfile you provided, Colcon building time in my laptop is so slow, is this normal for compiling DynoSAM in more 30 minutes? And i do not see the folder ros_ws in the folder dev_ws, should i manually create the ros_ws? Please, help.

[jessemorris]

Hi,

1. Yes, the current main branch of dynosam is very slow to compile. I recommend restricting the number of cores used to prevent the system freezing $ export MAKEFLAGS="-j6" && clear && colcon build. I am currently working on an improved (everything) version of dynosam that is much faster to compile under the develop branch but this includes additional dependencies (like cuda).
2. dev_ws is a ros worksapce so colcon build should be run under home/user/dev_ws.

[whoami1230321-dotcom]

Ok, i compiled the code and have the result. I run the evaluation, but i don't know how to have visualization of the result for displaying Static/Dynamic Map points and trajectory of Camera/Object (like your playback video result .gif with OMD dataset).

[jessemorris]

For visualising the logged results of the trajectory and 3D map, see the plot_3d_map.py script in dynosam_utils (some config may need to be changed).
For the playback video, I recorded the output on RVIZ and manually converted that to a gif.