## Docker Environment for [SLAM in Autonomous Driving Book (SAD Book)](https://github.com/gaoxiang12/slam_in_autonomous_driving)

### Ubuntu 20.04 Docker Environment

```bash
# Clone the repository
git clone ssh://git@gitea.cuihang1201.synology.me:2222/hangpersonal/SLAM_Docker_Env.git

cd SLAM_Docker_Env

# Pull the Docker image
docker pull gitea.cuihang1201.synology.me/hangpersonal/sad-workspace:latest

# Start the Docker container
docker compose up -d

# Shutdown the Docker container
docker compose down
```

### Access the Ubuntu 20.04 GUI Environment

```bash
# Open http://localhost:46080/vnc.html 
# in your web browser to connect to the Ubuntu 20.04 desktop 
# running inside the Docker container.

# Compile g2o
cd ~/workspace/slam_in_autonomous_driving/thirdparty/g2o/
mkdir build && cd build
cmake ..
make -j8 
make install
ldconfig

# Compile the source code
cd ~/workspace/slam_in_autonomous_driving
mkdir build && cd build
cmake ..
make -j8
```
<a href="url"><img src="./images/ubuntu.png" width="700"></a>  

<a href="url"><img src="./images/compile.png" width="700"></a>  

### Run Motion Demo

```bash
cd ~/workspace/slam_in_autonomous_driving
./bin/motion
```

<a href="url"><img src="./images/motion.png" width="700"></a>