Disclaimer

SLAMFuse is still under development and not all features presented in the paper are currently available on main 'SLAMFuse' branch. We are actively working on improving the tool so have a look here if you can't find a feature you were looking for.

1. Prerequisites

1.1 Recommended System:

Linux distribution.
Windows WSL2

1.2 Docker

Install Docker Engine.
If you are using Windows10 WSL2, you can EITHER install Docker Desktop OR run following command:

$ curl -fsSL https://get.docker.com -o get-docker.sh
$ sudo sh get-docker.sh
$ sudo service docker start
$ sudo chmod 777 /var/run/docker.sock

2. Start with Docker

2.1 Build SLAMFuse

$ sudo apt-get install git
$ git clone https://github.com/nikolaradulov/SLAMFuse.git slamfuse # NEED TO CHANGE THE LINK IF MOVES TO PAMELA-PROJECT
$ cd ~/slamfuse/
$ docker build . -t slamfuse/main

2.2 Build Algorithm

$ cd ~/slamfuse/
$ ./scripts/algorithm-vol.sh [algorithm name]
$ ./scripts/algorithm-vol.sh floam

Replace [algorithm name] by kfusion, orbslam3, floam, etc. Now you have:

Docker IMAGE: [algorithm name]-img
Docker CONTAINER: [algorithm name]
Docker VOLUME: [algorithm name]-vol

The [algorithm name]-vol contains all the necessary components for evaluating algorithm on SLAMFuse.
Hints: If Docker images takes too much memory and you already have [algorithm name]-vol, you can use docker rm [algorithm name], docker rmi [algorithm name]-img and docker system prune to free memory.

2.3 Build dataset

$ python3 starter.py dataset -t make -d ./datasets/KITTI/2011_09_30_drive_0027/2011_09_30_drive_0027_sync.slam -v KITTI07

check ~/slamfuse/datasets/command.txt for more details.

2.4 Run Algorithm

$ python3 starter.py run -t gui -dv KITTI07 -d 2011_09_30_drive_0027_sync.slam -a floam/libfloam-original-library.so

If you want to have more control of the filesystem, then you will need -t interactive-gui, it allows you to modify the configuration file, visualize results, and so on.

$ python3 starter.py run -t interactive-gui -dv KITTI07 -d 2011_09_30_drive_0027_sync.slam -a floam/libfloam-original-library.so

nikolaradulov / SLAMFuse

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