Firstly, git clone the algorithm Dockerfile repository to your computer, then:
cd orb-slam3-ros-mono/
./install.sh
You can check whether the image is successfully built as follows:
docker images
you can see:
slam-hive-algorithm orb-slam3-ros-mono [IMAGE ID] [CREATED] [SIZE]
For source code, we just change the places where used to save trajectory and mapping result files.