pyorbslam3 0.1.1__tar.gz

pyorbslam3-0.1.1/.dockerignore

@@ -0,0 +1,8 @@
+build/
+results/
+vocabulary/
+*.so
+__pycache__/
+*.pyc
+*.egg-info/
+.git/

pyorbslam3-0.1.1/.github/workflows/wheels.yml

@@ -0,0 +1,48 @@
+name: wheels
+
+on:
+  push:
+    tags: ["v*"]
+  workflow_dispatch:
+
+jobs:
+  sdist:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with: { python-version: "3.12" }
+      - run: pip install build && python -m build --sdist
+      - uses: actions/upload-artifact@v4
+        with: { name: sdist, path: dist/*.tar.gz }
+
+  wheels:
+    runs-on: ubuntu-latest
+    timeout-minutes: 300
+    steps:
+      - uses: actions/checkout@v4
+      - uses: pypa/cibuildwheel@v2.22.0
+      - uses: actions/upload-artifact@v4
+        with: { name: wheels, path: wheelhouse/*.whl }
+
+  github-release:
+    needs: [sdist, wheels]
+    if: startsWith(github.ref, 'refs/tags/v')
+    runs-on: ubuntu-latest
+    permissions: { contents: write }
+    steps:
+      - uses: actions/download-artifact@v4
+        with: { path: dist, merge-multiple: true }
+      - uses: softprops/action-gh-release@v2
+        with: { files: dist/* }
+
+  pypi:
+    needs: [sdist, wheels]
+    if: startsWith(github.ref, 'refs/tags/v')
+    runs-on: ubuntu-latest
+    environment: pypi
+    permissions: { id-token: write }   # PyPI trusted publishing (no token stored)
+    steps:
+      - uses: actions/download-artifact@v4
+        with: { path: dist, merge-multiple: true }
+      - uses: pypa/gh-action-pypi-publish@release/v1

pyorbslam3-0.1.1/.gitignore

@@ -0,0 +1,12 @@
+build/
+*.so
+__pycache__/
+*.pyc
+*.egg-info/
+vocabulary/ORBvoc.txt
+results/*
+!results/benchmarks.jsonl
+!results/traj_*.txt
+!results/kf_traj_*.txt
+dist/
+wheelhouse/

pyorbslam3-0.1.1/BENCHMARKS.md

@@ -0,0 +1,139 @@
+# pyorbslam3 benchmarks
+
+Results of running the bindings on public datasets with `examples/benchmark.py`.
+Every row is one full sequence run; the raw records are in
+`results/benchmarks.jsonl` and the trajectories in `results/`. Regenerate this
+file with `python3 examples/make_report.py -o BENCHMARKS.md --header docs/benchmarks_header.md --footer docs/benchmarks_notes.md`.
+
+## Setup
+
+* Machine: Intel Core i5-1035G1 (4 cores / 8 threads, 1.0 GHz base), 15 GB RAM,
+  Ubuntu 22.04, Python 3.10, OpenCV 4.5.4. No GPU is used by ORB-SLAM3.
+* Bindings linked against ORB-SLAM3 upstream commit `4452a3c4` with the two
+  patches in `docker/patches/`. Viewer off.
+* Settings files: the stock ORB-SLAM3 examples for each dataset
+  (`configs/<dataset>/`), with two corrections: the TUM-VI stereo file's
+  `Camera.overlapping*` keys renamed to `Camera1.*` (the upstream spelling is
+  ignored by the parser), and the KITTI stereo file rewritten as two identical
+  `PinHole` cameras instead of `Camera.type: "Rectified"`, which crashes in the
+  settings printer upstream.
+* Frames are fed sequentially as fast as tracking allows (no real-time pacing),
+  so `fps` is the throughput on this CPU, not a dataset rate. `track ms` is the
+  median wall time of one track call.
+
+## Metrics
+
+* **Tracked OK** — frames for which ORB-SLAM3 reported `TrackingState.OK`. In
+  inertial modes the frames before IMU initialization count as not OK, which is
+  why mono-inertial rates sit below the non-inertial ones.
+* **IMU init** — seconds of sequence time until `imu_initialized()` turned true.
+* **ATE sim(3)** — RMSE of position error after a similarity (Umeyama) alignment
+  of the estimated trajectory to ground truth, over the poses that associate to
+  a ground-truth sample within 20 ms. **scale** is the similarity scale found by
+  that alignment: 1.0 means the estimate is already metric. For monocular runs
+  the scale is arbitrary by construction; for stereo, RGB-D and inertial runs it
+  should be close to 1.0.
+* **ATE SE(3)** — the same error with scale fixed at 1 (rigid alignment only).
+  This is the number that matters for a metric system; it is meaningless for
+  plain monocular runs.
+
+Ground truth: TUM-VI mocap (`mocap0`), EuRoC `state_groundtruth_estimate0`,
+TUM RGB-D `groundtruth.txt`, KITTI raw OXTS GPS/INS converted to a local metric
+frame (the odometry-benchmark drives with published poses are not in the raw
+download set, so GPS/INS is used; its accuracy is at the decimetre level, which
+sets a floor on the KITTI numbers).
+
+ORB-SLAM3 is multi-threaded and not deterministic; repeated runs of the same
+sequence vary by a few percent in tracked frames and ATE.
+
+
+### TUM-VI
+
+| Sequence | Mode | Frames | Tracked OK | IMU init | ATE sim(3) | scale | ATE SE(3) | fps | track ms |
+|---|---|---:|---:|---:|---:|---:|---:|---:|---:|
+| room1 (run 1) | mono | 2821 | 2724 (96.6%) | n/a | 7.29 cm | 1.785 | n/a | 7.1 | 67.0 |
+| room1 (run 2) | mono | 2821 | 2724 (96.6%) | n/a | 97.42 cm | 8.485 | n/a | 17.7 | 45.8 |
+| room1 (run 1) | mono-imu | 2821 | 2700 (95.7%) | 8.4 s | 1.22 cm | 1.000 | 1.22 cm | 3.3 | 56.7 |
+| room1 (run 2) | mono-imu | 2821 | 2700 (95.7%) | 8.4 s | 1.28 cm | 0.998 | 1.30 cm | 19.0 | 43.3 |
+| room1 (run 1) | stereo | 2821 | 2821 (100.0%) | n/a | 7.15 cm | 0.974 | 7.62 cm | 4.9 | 102.9 |
+| room1 (run 2) | stereo | 2821 | 2821 (100.0%) | n/a | 7.16 cm | 0.975 | 7.60 cm | 9.8 | 84.1 |
+| room1 | stereo-imu | 2821 | 2746 (97.3%) | 2.5 s | 0.76 cm | 1.005 | 0.90 cm | 6.7 | 86.0 |
+
+### EuRoC MAV
+
+| Sequence | Mode | Frames | Tracked OK | IMU init | ATE sim(3) | scale | ATE SE(3) | fps | track ms |
+|---|---|---:|---:|---:|---:|---:|---:|---:|---:|
+| V1_01_easy | mono | 2912 | 2802 (96.2%) | n/a | 8.87 cm | 2.058 | n/a | 25.8 | 30.2 |
+| V1_01_easy | mono-imu | 2911 | 2798 (96.1%) | 7.9 s | 3.25 cm | 1.011 | 3.83 cm | 24.3 | 32.3 |
+| V1_01_easy | stereo | 2912 | 2912 (100.0%) | n/a | 8.82 cm | 1.005 | 8.86 cm | 16.6 | 53.5 |
+| V1_01_easy | stereo-imu | 2911 | 2864 (98.4%) | 2.5 s | 3.45 cm | 1.009 | 3.83 cm | 12.7 | 68.1 |
+| V1_02_medium | mono | 1710 | 1531 (89.5%) | n/a | 9.40 cm | 0.216 | n/a | 29.1 | 24.8 |
+| V1_02_medium | mono-imu | 1709 | 1594 (93.3%) | 11.0 s | 1.94 cm | 1.004 | 2.06 cm | 27.8 | 26.5 |
+| V1_02_medium | stereo | 1710 | 1710 (100.0%) | n/a | 8.10 cm | 1.008 | 8.22 cm | 17.5 | 51.2 |
+| V1_02_medium | stereo-imu | 1709 | 1687 (98.7%) | 2.4 s | 1.41 cm | 1.007 | 1.90 cm | 15.1 | 60.9 |
+| V1_03_difficult | mono | 2149 | 1737 (80.8%) | n/a | 13.34 cm | 3.806 | n/a | 31.5 | 22.7 |
+| V1_03_difficult | mono-imu | 2149 | 1790 (83.3%) | 9.8 s | 2.17 cm | 1.015 | 2.83 cm | 29.9 | 24.1 |
+| V1_03_difficult | stereo | 2149 | 2149 (100.0%) | n/a | 15.12 cm | 1.018 | 15.38 cm | 18.7 | 48.4 |
+| V1_03_difficult | stereo-imu | 2149 | 2071 (96.4%) | 2.4 s | 1.99 cm | 1.013 | 2.79 cm | 16.7 | 56.2 |
+
+### KITTI raw
+
+| Sequence | Mode | Frames | Tracked OK | IMU init | ATE sim(3) | scale | ATE SE(3) | fps | track ms |
+|---|---|---:|---:|---:|---:|---:|---:|---:|---:|
+| 2011_09_26_drive_0036 (run 1) | mono | 803 | 802 (99.9%) | n/a | 801.9 cm | 12.176 | n/a | 18.4 | 41.0 |
+| 2011_09_26_drive_0036 (run 2) | mono | 803 | 802 (99.9%) | n/a | 895.0 cm | 12.781 | n/a | 19.8 | 38.1 |
+| 2011_09_26_drive_0036 | stereo | 803 | 803 (100.0%) | n/a | 85.59 cm | 1.007 | 151.4 cm | 6.0 | 88.9 |
+| 2011_09_26_drive_0101 | mono | 936 | 845 (90.3%) | n/a | 2602.1 cm | 117.2 | n/a | 6.4 | 39.7 |
+| 2011_09_26_drive_0101 | stereo | 936 | 936 (100.0%) | n/a | 107.7 cm | 1.000 | 107.8 cm | 4.5 | 117.4 |
+
+### TUM RGB-D
+
+| Sequence | Mode | Frames | Tracked OK | IMU init | ATE sim(3) | scale | ATE SE(3) | fps | track ms |
+|---|---|---:|---:|---:|---:|---:|---:|---:|---:|
+| fr1_desk | mono | 596 | 492 (82.6%) | n/a | 1.50 cm | 1.043 | n/a | 17.9 | 34.8 |
+| fr1_desk | rgbd | 596 | 596 (100.0%) | n/a | 1.60 cm | 0.996 | 1.64 cm | 6.5 | 60.4 |
+| fr3_long_office (run 1) | mono | 2488 | 2463 (99.0%) | n/a | 105.6 cm | 2.715 | n/a | 15.7 | 41.0 |
+| fr3_long_office (run 2) | mono | 2488 | 2463 (99.0%) | n/a | 2.60 cm | 2.435 | n/a | 18.5 | 34.5 |
+| fr3_long_office | rgbd | 2488 | 2488 (100.0%) | n/a | 1.65 cm | 0.986 | 3.44 cm | 12.6 | 59.4 |
+
+## Reading the results
+
+* **Inertial modes recover metric scale.** Across all eight inertial runs
+  (TUM-VI room1, EuRoC V1_01–V1_03) the similarity-alignment scale lies within
+  1.5 % of 1.0 and the ATE is 0.8–3.5 cm. Stereo-inertial initializes the IMU in
+  about 2.5 s on every sequence; mono-inertial needs 8–11 s of motion.
+* **Stereo tracks every frame.** 100 % of frames `OK` on all seven stereo
+  sequences, scale 0.97–1.02 without any IMU. Indoor ATE is 7–15 cm; the KITTI
+  drives give about 1 m over 800–940 frames of driving against GPS/INS ground
+  truth, whose own accuracy is at the decimetre level.
+* **RGB-D** tracks every frame on both TUM sequences with 1.6 cm ATE and metric
+  scale.
+* **Plain monocular is the least repeatable mode.** Scale is arbitrary by
+  construction, and whenever ORB-SLAM3 re-initializes a map mid-sequence the
+  saved trajectory contains segments with different scales, which a single
+  similarity alignment cannot undo. That is what the paired runs show: room1 mono
+  7 cm in one run and 97 cm in the next, fr3_long_office 106 cm and then 2.6 cm,
+  with identical tracking rates. On the KITTI driving sequences monocular drifts
+  in scale by one to two orders of magnitude (no loop closures on these drives),
+  which is expected and why the ORB-SLAM3 authors report KITTI with stereo only.
+  For anything that needs a usable trajectory, use stereo, RGB-D or an inertial
+  mode.
+* **Throughput.** On this 1.0 GHz laptop CPU the bindings run EuRoC (752×480)
+  at 13–29 fps and TUM-VI (512×512 fisheye) at 10–19 fps depending on mode. The
+  "run 1" TUM-VI rows were measured while a Docker image was compiling on the
+  same machine; the "run 2" rows of the same modes show the uncontended speed.
+  The Python layer adds no measurable overhead: the median track-call time is
+  the ORB-SLAM3 tracking thread's own frame time.
+
+Where a mode was run twice, `results/` holds the trajectory of the later run
+(the `_run2` files for the two repeats that were run into a separate folder,
+otherwise the file was overwritten); the JSONL keeps both sets of metrics.
+
+## Not covered here
+
+* Real-camera results (ZED 2i, RealSense D435i) live in the `orbulation` ROS 2
+  package's user guide. D435i stereo-inertial is configured but still needs a
+  handheld test with motion.
+* TUM-VI corridor/magistrale/outdoor sequences, EuRoC machine hall and
+  vicon_room2, and the KITTI odometry benchmark proper were not run.
+

pyorbslam3-0.1.1/CMakeLists.txt

@@ -0,0 +1,192 @@
+cmake_minimum_required(VERSION 3.16)
+project(pyorbslam3 LANGUAGES CXX)
+
+if(NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE Release)
+endif()
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# ---------------------------------------------------------------------------
+# Where does ORB-SLAM3 come from? Three options, tried in this order:
+#
+#  (a) ORBSLAM3_ROOT (+ optional ORBSLAM3_BUILD_DIR, default <root>/build):
+#      a standalone ORB_SLAM3 source tree already built as static libraries,
+#      with Pangolin discoverable through find_package(Pangolin) / Pangolin_DIR.
+#      Also read from the environment, so `ORBSLAM3_ROOT=... pip install .` works.
+#  (b) ORBSLAM_DEPS: legacy — the _deps dir of a PRBonn ORB-SLAM-Python build.
+#  (c) PYORBSLAM3_FETCH_DEPS=ON (automatic when neither of the above exists):
+#      download and compile Pangolin + ORB-SLAM3 (cmake/deps). Slow (30–60 min)
+#      but needs nothing beyond the system packages listed in the README.
+# ---------------------------------------------------------------------------
+set(ORBSLAM3_ROOT "$ENV{ORBSLAM3_ROOT}" CACHE PATH "Standalone ORB_SLAM3 source tree")
+set(ORBSLAM3_BUILD_DIR "" CACHE PATH "Build dir of ORBSLAM3_ROOT (default <root>/build)")
+set(ORBSLAM_DEPS
+    "${CMAKE_CURRENT_SOURCE_DIR}/../ORB-SLAM-Python/build/cp310-cp310-linux_x86_64/_deps"
+    CACHE PATH "Legacy: _deps dir of an ORB-SLAM-Python build")
+option(PYORBSLAM3_FETCH_DEPS "Download and build Pangolin + ORB-SLAM3" OFF)
+# Self-contained: also build a static minimal OpenCV and Eigen, so the module
+# does not depend on the system OpenCV (used for the manylinux wheels).
+if(DEFINED ENV{PYORBSLAM3_SELF_CONTAINED} AND NOT "$ENV{PYORBSLAM3_SELF_CONTAINED}" STREQUAL "" AND NOT "$ENV{PYORBSLAM3_SELF_CONTAINED}" STREQUAL "0")
+  set(_default_self_contained ON)
+else()
+  set(_default_self_contained OFF)
+endif()
+option(PYORBSLAM3_SELF_CONTAINED "Bundle OpenCV + Eigen in the dependency build" ${_default_self_contained})
+if(PYORBSLAM3_SELF_CONTAINED)
+  set(PYORBSLAM3_FETCH_DEPS ON)
+endif()
+# Where the dependency build lives (shared between Python versions in CI).
+set(PYORBSLAM3_DEPS_DIR "$ENV{PYORBSLAM3_DEPS_DIR}" CACHE PATH "Directory for the dependency superbuild")
+if(DEFINED ENV{PYORBSLAM3_JOBS} AND NOT "$ENV{PYORBSLAM3_JOBS}" STREQUAL "")
+  set(_default_jobs "$ENV{PYORBSLAM3_JOBS}")
+else()
+  set(_default_jobs 2)
+endif()
+set(PYORBSLAM3_JOBS "${_default_jobs}" CACHE STRING "Parallel jobs for the dependency build")
+if(PYORBSLAM3_JOBS STREQUAL "")
+  set(PYORBSLAM3_JOBS 2)
+endif()
+
+if(ORBSLAM3_ROOT STREQUAL "" AND NOT PYORBSLAM3_FETCH_DEPS
+   AND EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/../ORB_SLAM3/build/libORB_SLAM3.a")
+  set(ORBSLAM3_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/../ORB_SLAM3")
+endif()
+if(ORBSLAM3_ROOT STREQUAL "" AND NOT PYORBSLAM3_FETCH_DEPS
+   AND NOT EXISTS "${ORBSLAM_DEPS}/orb_slam3-build/libORB_SLAM3.a")
+  set(PYORBSLAM3_FETCH_DEPS ON)
+endif()
+
+if(PYORBSLAM3_FETCH_DEPS)
+  if(PYORBSLAM3_DEPS_DIR STREQUAL "")
+    set(_deps "${CMAKE_BINARY_DIR}/deps")
+  else()
+    set(_deps "${PYORBSLAM3_DEPS_DIR}")
+  endif()
+  message(STATUS "pyorbslam3: building Pangolin + ORB-SLAM3 from source in ${_deps} "
+                 "(jobs=${PYORBSLAM3_JOBS}, self-contained=${PYORBSLAM3_SELF_CONTAINED}; this takes a while)")
+  # Generator, make program and compilers are passed explicitly so that a
+  # dependency build cached from an earlier pip run (whose temporary build
+  # environment is gone) is refreshed instead of pointing at stale paths.
+  execute_process(
+    COMMAND ${CMAKE_COMMAND} -S "${CMAKE_CURRENT_SOURCE_DIR}/cmake/deps" -B "${_deps}"
+            -G "${CMAKE_GENERATOR}" "-DCMAKE_MAKE_PROGRAM=${CMAKE_MAKE_PROGRAM}"
+            "-DCMAKE_C_COMPILER=${CMAKE_C_COMPILER}" "-DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}"
+            -DJOBS=${PYORBSLAM3_JOBS} -DSELF_CONTAINED=${PYORBSLAM3_SELF_CONTAINED}
+    RESULT_VARIABLE _rc)
+  if(NOT _rc EQUAL 0)
+    message(FATAL_ERROR "configuring the dependency superbuild failed")
+  endif()
+  execute_process(COMMAND ${CMAKE_COMMAND} --build "${_deps}" RESULT_VARIABLE _rc)
+  if(NOT _rc EQUAL 0)
+    message(FATAL_ERROR "building Pangolin / ORB-SLAM3 failed (see output above)")
+  endif()
+  set(ORBSLAM3_ROOT "${_deps}/orbslam3-src")
+  set(ORBSLAM3_BUILD_DIR "${_deps}/orbslam3-build")
+  set(Pangolin_DIR "${_deps}/pangolin-install/lib/cmake/Pangolin" CACHE PATH "" FORCE)
+  if(PYORBSLAM3_SELF_CONTAINED)
+    # prepend so the bundled OpenCV/Eigen win over any system copies
+    list(PREPEND CMAKE_PREFIX_PATH "${_deps}/opencv-install" "${_deps}/eigen-install")
+  endif()
+endif()
+
+find_package(Python COMPONENTS Interpreter Development.Module REQUIRED)
+find_package(pybind11 CONFIG REQUIRED)
+find_package(OpenCV 4.4 REQUIRED)
+find_package(Eigen3 REQUIRED)
+# Boost.Serialization is linked shared on purpose: distribution static builds
+# are usually not -fPIC (manylinux's is not), and auditwheel bundles the .so.
+find_package(Boost REQUIRED COMPONENTS serialization)
+find_package(OpenSSL REQUIRED)
+
+pybind11_add_module(_core MODULE src/orbslam3_pybind.cpp)
+
+if(PYORBSLAM3_SELF_CONTAINED)
+  set(_win_uri "x11")   # manylinux builds have no Wayland
+else()
+  set(_win_uri "wayland")
+endif()
+target_compile_definitions(
+  _core PRIVATE HAVE_GLEW HAVE_EIGEN _LINUX_ PANGO_DEFAULT_WIN_URI="${_win_uri}"
+                BOOST_ALL_NO_LIB BOOST_SERIALIZATION_DYN_LINK)
+
+if(NOT ORBSLAM3_ROOT STREQUAL "")
+  # ---- (a)/(c) standalone tree ---------------------------------------------
+  if(ORBSLAM3_BUILD_DIR STREQUAL "")
+    set(ORBSLAM3_BUILD_DIR "${ORBSLAM3_ROOT}/build")
+  endif()
+  if(NOT EXISTS "${ORBSLAM3_BUILD_DIR}/libORB_SLAM3.a")
+    message(FATAL_ERROR "libORB_SLAM3.a not found in ${ORBSLAM3_BUILD_DIR}; build ORB_SLAM3 first.")
+  endif()
+  find_package(Pangolin REQUIRED)
+  message(STATUS "pyorbslam3: linking ORB_SLAM3 from ${ORBSLAM3_ROOT} (build ${ORBSLAM3_BUILD_DIR})")
+
+  target_include_directories(
+    _core SYSTEM
+    PRIVATE "${ORBSLAM3_ROOT}"
+            "${ORBSLAM3_ROOT}/include"
+            "${ORBSLAM3_ROOT}/include/CameraModels"
+            "${ORBSLAM3_ROOT}/Thirdparty/Sophus"
+            ${Pangolin_INCLUDE_DIRS}
+            ${OpenCV_INCLUDE_DIRS})
+
+  target_link_libraries(
+    _core
+    PRIVATE
+      -Wl,--start-group
+      "${ORBSLAM3_BUILD_DIR}/libORB_SLAM3.a"
+      "${ORBSLAM3_BUILD_DIR}/Thirdparty/DBoW2/libDBoW2.a"
+      "${ORBSLAM3_BUILD_DIR}/Thirdparty/g2o/libg2o.a"
+      ${Pangolin_LIBRARIES}
+      -Wl,--end-group
+      Eigen3::Eigen
+      ${OpenCV_LIBS}
+      Boost::serialization
+      OpenSSL::Crypto)
+else()
+  # ---- (b) legacy ORB-SLAM-Python _deps tree ------------------------------
+  set(ORBSLAM_SRC "${ORBSLAM_DEPS}/orb_slam3-src")
+  set(ORBSLAM_BUILD "${ORBSLAM_DEPS}/orb_slam3-build")
+  set(PANGOLIN_SRC "${ORBSLAM_DEPS}/pangolin-src")
+  set(PANGOLIN_BUILD "${ORBSLAM_DEPS}/pangolin-build")
+  message(STATUS "pyorbslam3: linking legacy ORB-SLAM-Python deps at ${ORBSLAM_DEPS}")
+
+  file(GLOB PANGOLIN_COMPONENT_INCLUDES "${PANGOLIN_SRC}/components/*/include")
+  file(GLOB PANGOLIN_LIBS "${PANGOLIN_BUILD}/libpango_*.a")
+
+  target_include_directories(
+    _core SYSTEM
+    PRIVATE "${ORBSLAM_SRC}"
+            "${ORBSLAM_SRC}/include"
+            "${ORBSLAM_SRC}/include/CameraModels"
+            "${ORBSLAM_SRC}/Thirdparty/Sophus"
+            ${PANGOLIN_COMPONENT_INCLUDES}
+            "${PANGOLIN_BUILD}/include"
+            ${OpenCV_INCLUDE_DIRS})
+
+  target_link_libraries(
+    _core
+    PRIVATE
+      -Wl,--start-group
+      "${ORBSLAM_BUILD}/libORB_SLAM3.a"
+      "${ORBSLAM_BUILD}/Thirdparty/DBoW2/libDBoW2.a"
+      "${ORBSLAM_BUILD}/Thirdparty/g2o/libg2o.a"
+      ${PANGOLIN_LIBS}
+      "${PANGOLIN_BUILD}/libtinyobj.a"
+      -Wl,--end-group
+      Eigen3::Eigen
+      ${OpenCV_LIBS}
+      Boost::serialization
+      OpenSSL::Crypto
+      GLEW OpenGL GLX GLU EGL SM ICE X11 Xext
+      wayland-client wayland-egl wayland-cursor xkbcommon rt)
+endif()
+
+if(SKBUILD)
+  # pip / scikit-build-core: the module goes into the wheel's package dir.
+  install(TARGETS _core LIBRARY DESTINATION pyorbslam3)
+else()
+  # ./build.sh: drop the built module straight into the source package.
+  set_target_properties(_core PROPERTIES
+    LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/pyorbslam3")
+endif()

pyorbslam3-0.1.1/Dockerfile

@@ -0,0 +1,79 @@
+# syntax=docker/dockerfile:1
+# pyorbslam3 — self-contained image: Pangolin v0.9 + ORB-SLAM3 (patched) + Python bindings.
+#
+#   docker build -t pyorbslam3 .                       # ~30-60 min, needs ~6 GB RAM at JOBS=3
+#   docker run --rm -it -v /path/to/datasets:/data pyorbslam3 \
+#       python3 examples/benchmark.py --dataset tumvi --root /data/dataset-room1_512_16 --mode stereo-imu
+#
+# Build parallelism is capped (ARG JOBS) because a few ORB-SLAM3 translation
+# units need ~2 GB each to compile.
+
+ARG UBUNTU=22.04
+
+# ---------------------------------------------------------------------------
+FROM ubuntu:${UBUNTU} AS builder
+ARG JOBS=3
+ARG ORBSLAM3_COMMIT=4452a3c4ab75b1cde34e5505a36ec3f9edcdc4c4
+ARG PANGOLIN_VERSION=0.9
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+      build-essential git ca-certificates pkg-config wget \
+      python3-dev python3-pip python3-numpy \
+      libopencv-dev libeigen3-dev libboost-serialization-dev libssl-dev \
+      libglew-dev libgl1-mesa-dev libegl1-mesa-dev libglu1-mesa-dev \
+      libwayland-dev libxkbcommon-dev wayland-protocols \
+      libx11-dev libxext-dev libsm-dev libice-dev \
+    && rm -rf /var/lib/apt/lists/* \
+    && pip3 install --no-cache-dir "cmake>=3.25,<4" "pybind11>=2.10"   # ORB-SLAM3 needs CMake >= 3.25
+
+# ---- Pangolin (static, PIC, viewer only) ----------------------------------
+RUN wget -qO- https://github.com/stevenlovegrove/Pangolin/archive/refs/tags/v${PANGOLIN_VERSION}.tar.gz \
+      | tar xz -C /opt \
+    && cmake -S /opt/Pangolin-${PANGOLIN_VERSION} -B /opt/Pangolin-${PANGOLIN_VERSION}/build \
+         -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=OFF \
+         -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
+         -DBUILD_TOOLS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TESTS=OFF \
+         -DBUILD_PANGOLIN_PYTHON=OFF -DBUILD_PANGOLIN_VIDEO=OFF \
+    && cmake --build /opt/Pangolin-${PANGOLIN_VERSION}/build -j${JOBS} \
+    && cmake --install /opt/Pangolin-${PANGOLIN_VERSION}/build \
+    && rm -rf /opt/Pangolin-${PANGOLIN_VERSION}
+
+# ---- ORB-SLAM3 (pinned commit + patches) ----------------------------------
+COPY docker/patches /tmp/patches
+RUN git init -q /opt/ORB_SLAM3 && cd /opt/ORB_SLAM3 \
+    && git remote add origin https://github.com/UZ-SLAMLab/ORB_SLAM3.git \
+    && git fetch -q --depth 1 origin ${ORBSLAM3_COMMIT} \
+    && git checkout -q FETCH_HEAD \
+    && git apply --whitespace=nowarn /tmp/patches/0001-*.patch /tmp/patches/0002-*.patch \
+    && rm -rf .git Examples_old Examples/*/TUM_IMU \
+    && tar -xzf Vocabulary/ORBvoc.txt.tar.gz -C Vocabulary
+RUN cmake -S /opt/ORB_SLAM3 -B /opt/ORB_SLAM3/build -DCMAKE_BUILD_TYPE=Release \
+    && cmake --build /opt/ORB_SLAM3/build -j${JOBS}
+
+# ---- pyorbslam3 (PEP 517 build against the tree above) ---------------------
+COPY . /src/pyorbslam3
+RUN cd /src/pyorbslam3 \
+    && ORBSLAM3_ROOT=/opt/ORB_SLAM3 pip3 install --no-cache-dir --no-deps --target /opt/pyinstall . \
+    && python3 -c "import sys; sys.path.insert(0, '/opt/pyinstall'); import pyorbslam3"
+
+# ---------------------------------------------------------------------------
+FROM ubuntu:${UBUNTU}
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && apt-get install -y --no-install-recommends \
+      python3 python3-numpy python3-opencv \
+      libboost-serialization1.74.0 libssl3 libglew2.2 libgl1 libglx0 libopengl0 libegl1 libglu1-mesa \
+      libwayland-client0 libwayland-egl1 libwayland-cursor0 libxkbcommon0 \
+      libx11-6 libxext6 libsm6 libice6 \
+    && rm -rf /var/lib/apt/lists/*
+
+COPY --from=builder /opt/pyinstall/ /usr/local/lib/python3.10/dist-packages/
+COPY --from=builder /opt/ORB_SLAM3/Vocabulary/ORBvoc.txt /opt/pyorbslam3/vocabulary/ORBvoc.txt
+COPY configs /opt/pyorbslam3/configs
+COPY examples /opt/pyorbslam3/examples
+COPY README.md /opt/pyorbslam3/README.md
+
+WORKDIR /opt/pyorbslam3
+ENV PYORBSLAM3_VOCAB=/opt/pyorbslam3/vocabulary/ORBvoc.txt
+RUN python3 -c "import pyorbslam3; print('pyorbslam3 OK:', [s.name for s in pyorbslam3.Sensor.__members__.values()])"
+CMD ["python3", "-c", "import pyorbslam3; print('pyorbslam3 ready; see examples/benchmark.py --help')"]