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Rebuild SLAM base image as grabette-vslam:2026-10-20 (multi-arch) - #30
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The published base (:2026-07-22) predated IMU-less camera support in offline_vslam.cpp, so its binary aborted on every Gemini episode in local Docker runs. Rebuilt from this tree as a multi-arch image (amd64 + arm64) and published as :2026-10-20, now also :latest. - docker/vslam/Dockerfile: BUILD_JOBS build arg (default nproc); the 10-job RTAB-Map compile OOMs in Docker Desktop's 8 GB VM. - README: pin :2026-10-20, note multi-arch and BUILD_JOBS. - Root Dockerfile: update the drift comment. Assisted-by: Claude:claude-opus-5-5
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pollenrobotics/grabette-vslam:2026-07-22(=oak-vslam) was built before IMU-less camera support landed inoffline_vslam.cpp(590a794). Its binary aborts on every Orbbec Gemini 305 episode (nlohmann type_error.302, calib has noimu_to_cam), and under Docker Desktop + Rosetta the abort spins at 100% CPU. The Space was unaffected because the root Dockerfile recompiles the binary, but localrun_slam.py/ Docker runs failed.Published (already pushed)
pollenrobotics/grabette-vslam:2026-10-20, multi-arch (amd64 + arm64), built fromdocker/vslam/at this tree.:latestnow points to it (digestsha256:4226704f…).:2026-07-22andoak-vslamare unchanged.Changes
docker/vslam/Dockerfile:BUILD_JOBSbuild arg, defaulting tonprocso the default behaviour is unchanged. The 10-job RTAB-Map compile OOMs in Docker Desktop's 8 GB VM; the image was built withBUILD_JOBS=4.grabette-postprocess/README.md: pin:2026-10-20, and note multi-arch andBUILD_JOBS.Dockerfile: drift comment updated. The binary is still recompiled there.Validation
convert_episode_for_slam.py+run_slam.py --docker_image …, 3 runs each::2026-07-22On OAK, path lengths overlap between the old and new images (1.62–1.72 m old vs 1.53–1.92 m new). Runs vary because SLAM is not deterministic.
Not done: the Space has not been redeployed or test-built on the new base. Its next build picks it up through the unpinned
FROM.🤖 Generated with Claude Code