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Merge pull request #33 from Matthewspear/documentation
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Documentation Update
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@bbodin
bbodin authored Aug 13, 2019
2 parents 5739dc5 + 04dbbcf commit 1702ae0
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Expand Up @@ -60,3 +60,7 @@ paper/*.tex
# Datasets

/datasets

# macOS
.DS_Store

60 changes: 31 additions & 29 deletions Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,9 @@ GET_REPLY:=REPLY="y"
WGET:=wget -q
endif


BoldGreen=\033[1;32m
BoldRed=\033[1;31m
ColorOff=\033[0m
####################################
#### SLAMBENCH INFOS (DEFAULT) ####
####################################
Expand All @@ -16,18 +18,19 @@ infos :
@${ECHO} -e "\n*** SLAMBench is an evaluation framework for SLAM algorithms. *** "
@${ECHO} -e "\n\
(1) First, several dependencies are needed to compile SLAMBench and its use-cases.\n\
If you may have already them installed on your system,\n\
we propose you to download and install them automatically using the following command :\n\
- \033[1;32mmake deps\033[0m\n\n\
- \033[1;32mmake gcc_cuda (If you do not have a compatible toolchain for CUDA)\033[0m\n\n\
(2) Then, to compile the SLAMBench framework you just need to type :\n\
- \033[1;32mmake slambench\033[0m\n\n\
(3) To compile the use-cases as well :\n\
- \033[1;32mmake slambench APPS=\"kfusion;lsdslam\"\033[0m\n\n\
However these use-cases are not distributed with SLAMBench, you will have to download them using the command:\n\
- \033[1;32mmake usecases\033[0m\n\n\
(4) Finally to run SLAM system with a particular dataset we recommand to run:\n\
- \033[1;32mmake datasets\033[0m\n\n\
We suggest that you to download and install them automatically using the following command:\n\
${BoldGreen} - make deps ${ColorOff}\n\
(2) Then, to compile the SLAMBench framework you just need to type:\n\
${BoldGreen} - make slambench ${ColorOff}\n\
(3) SLAMBench integrates a number of algorithms, however they are not directly distribute with the framework\n\
To download and build all the available algorithms, use:\n\
${BoldGreen} - make algorithms${ColorOff}\n\
Alternatively, to see the list of available algorithms, use:\n\
${BoldGreen} - make usecases ${ColorOff}\n\
(4) For information about downloading and building one of the available datasets, use:\n\
${BoldGreen} - make datasetslist ${ColorOff}\n\
(5) Once the desired datasets and algorithms were built, you can run the benchmark using:\n\
${BoldGreen} - ./build/bin/benchmark_loader -i path/to/dataset.slam -load path/to/algorithm-library.so ${ColorOff}\n\
"

####################################
Expand Down Expand Up @@ -190,14 +193,14 @@ slambench: build/Makefile
@echo "The list of current binaries is: "
@echo ""
@echo "Loaders available: "
@echo -n " - build/bin/benchmark_loader: " ; if [ -f build/bin/benchmark_loader ] ; then echo -e "\033[1;32mFound\033[0m" ; else echo -e "\033[1;31mNot found (Missing dependencies?)\033[0m" ; fi
@echo -n " - build/bin/pangolin_loader: " ; if [ -f build/bin/pangolin_loader ] ; then echo -e "\033[1;32mFound\033[0m" ; else echo -e "\033[1;31mNot found (Missing dependencies? did you try make pangolin)\033[0m" ; fi
@echo -n " - build/bin/benchmark_loader: " ; if [ -f build/bin/benchmark_loader ] ; then echo -e "${BoldGreen}Found${ColorOff}" ; else echo -e "${BoldRed}Not found (Missing dependencies?)${ColorOff}" ; fi
@echo -n " - build/bin/pangolin_loader: " ; if [ -f build/bin/pangolin_loader ] ; then echo -e "${BoldGreen}Found${ColorOff}" ; else echo -e "${BoldRed}Not found (Missing dependencies? did you try make pangolin)${ColorOff}" ; fi
@echo ""
@echo "Tools/Debugger available: "
@echo -n " - build/bin/pointcloud_aligner: " ; if [ -f build/bin/pointcloud_aligner ] ; then echo -e "\033[1;32mFound\033[0m" ; else echo -e "\033[1;31mNot found (Missing dependencies (i.e. pcl)?)\033[0m" ; fi
@echo -n " - build/bin/dataset-generator: " ; if [ -f build/bin/dataset-generator ] ; then echo -e "\033[1;32mFound\033[0m" ; else echo -e "\033[1;31mNot found (Missing dependencies?)\033[0m" ; fi
@echo -n " - build/bin/io-inspect-file: " ; if [ -f build/bin/io-inspect-file ] ; then echo -e "\033[1;32mFound\033[0m" ; else echo -e "\033[1;31mNot found (Missing dependencies?)\033[0m" ; fi
@echo -n " - build/bin/io-readply: " ; if [ -f build/bin/io-readply ] ; then echo -e "\033[1;32mFound\033[0m" ; else echo -e "\033[1;31mNot found (Missing dependencies?)\033[0m" ; fi
@echo -n " - build/bin/pointcloud_aligner: " ; if [ -f build/bin/pointcloud_aligner ] ; then echo -e "${BoldGreen}Found${ColorOff}" ; else echo -e "${BoldRed}Not found (Missing dependencies (i.e. pcl)?)${ColorOff}" ; fi
@echo -n " - build/bin/dataset-generator: " ; if [ -f build/bin/dataset-generator ] ; then echo -e "${BoldGreen}Found${ColorOff}" ; else echo -e "${BoldRed}Not found (Missing dependencies?)${ColorOff}" ; fi
@echo -n " - build/bin/io-inspect-file: " ; if [ -f build/bin/io-inspect-file ] ; then echo -e "${BoldGreen}Found${ColorOff}" ; else echo -e "${BoldRed}Not found (Missing dependencies?)${ColorOff}" ; fi
@echo -n " - build/bin/io-readply: " ; if [ -f build/bin/io-readply ] ; then echo -e "${BoldGreen}Found${ColorOff}" ; else echo -e "${BoldRed}Not found (Missing dependencies?)${ColorOff}" ; fi
@echo ""
@echo "The list of current use-case libraries available is:"
@echo ""
Expand Down Expand Up @@ -227,7 +230,7 @@ datasets :
@echo ""
@echo "If you do not find datasets in this list, you can use make to download them (make datasetslist). "
@echo "Here is a list of the datasets available."
@echo -e "If you are using one of those dataset, \033[1;31mplease refer to their respective publications\033[0m:"
@echo -e "If you are using any of the following datasets, ${BoldRed}please refer to their respective publications${ColorOff}:"
@echo " - TUM RGB-D SLAM dataset [Sturm et al, IROS'12]: https://vision.in.tum.de/data/datasets/rgbd-dataset"
@echo " - ICL-NUIM dataset [Handa et al, ICRA'14]: https://www.doc.ic.ac.uk/~ahanda/VaFRIC/iclnuim.html"
@echo " - EuRoC MAV Dataset [Burri et al, IJJR'16]: https://projects.asl.ethz.ch/datasets/doku.php"
Expand Down Expand Up @@ -304,21 +307,20 @@ datasetslist:
@echo ""
@echo ""
@echo "================================================================================================================="
@echo -e "If you are using one of those dataset, \033[1;31mplease refer to their respective publications\033[0m:"
@echo -e "If you are using any of the following datasets, ${BoldRed}please refer to their respective publications${ColorOff}:"
@echo " - TUM RGB-D SLAM dataset [Sturm et al, IROS'12]: https://vision.in.tum.de/data/datasets/rgbd-dataset"
@echo " - ICL-NUIM dataset [Handa et al, ICRA'14]: https://www.doc.ic.ac.uk/~ahanda/VaFRIC/iclnuim.html"
@echo " - EuRoC MAV Dataset [Burri et al, IJJR'16]: https://projects.asl.ethz.ch/datasets/doku.php"
@echo " - SVO sample dataset [Forster et al, ICRA 2014]: https://github.com/uzh-rpg/rpg_svo"
@echo "================================================================================================================="

.PHONY: slambench benchmarks benchmarkslist datasets datasetslist
.PHONY: slambench benchmarks datasets datasetslist


####################################
#### DATA SET GENERATION ####
####################################


check_generator:=if [ ! -e ./build/bin/dataset-generator ] ; then make slambench ; fi

#### EuRoCMAV
###############
Expand All @@ -333,7 +335,7 @@ datasetslist:
unzip $< -d $@

./datasets/EuRoCMAV/%.slam : ./datasets/EuRoCMAV/%.dir
if [ ! -e ./build/bin/dataset-generator ] ; then make slambench ; fi
${check_generator}
./build/bin/dataset-generator -d eurocmav -i $</mav0 -o $@ -imu true -stereo true -gt true

#### TUM
Expand All @@ -348,7 +350,7 @@ datasetslist:
tar xzf $< -C $@

./datasets/TUM/%.slam : ./datasets/TUM/%.dir
if [ ! -e ./build/bin/dataset-generator ] ; then make slambench ; fi
${check_generator}
./build/bin/dataset-generator -d tum -i $</* -o $@ -grey true -rgb true -gt true -depth true -accelerometer true

#### ICL-NUIM
Expand All @@ -370,11 +372,11 @@ datasets/ICL_NUIM/%_loop.dir : datasets/ICL_NUIM/%_loop.tgz
tar xzf $< -C $@

datasets/ICL_NUIM/living_room_traj%_loop.slam : datasets/ICL_NUIM/living_room_traj%_loop.dir datasets/ICL_NUIM/living-room.ply
if [ ! -e ./build/bin/dataset-generator ] ; then make slambench ; fi
${check_generator}
./build/bin/dataset-generator -d iclnuim -i $< -o $@ -ply datasets/ICL_NUIM/living-room.ply -grey true -rgb true -gt true -depth true -pf true

datasets/ICL_NUIM/living_room_traj%_loop_neg.slam : datasets/ICL_NUIM/living_room_traj%_loop.dir datasets/ICL_NUIM/living-room.ply
if [ ! -e ./build/bin/dataset-generator ] ; then make slambench ; fi
${check_generator}
./build/bin/dataset-generator -d iclnuim -i $< -o $@ -ply datasets/ICL_NUIM/living-room.ply -grey true -rgb true -gt true -depth true -pf false


Expand All @@ -398,7 +400,7 @@ datasets/SVO/artificial.dir: ./datasets/SVO/artificial.tar.gz
tar -xzf $< -C $@

datasets/SVO/artificial.slam: ./datasets/SVO/artificial.dir
if [ ! -e ./build/bin/dataset-generator ] ; then make slambench ; fi
${check_generator}
./build/bin/dataset-generator -d svo -i $</sin2_tex2_h1_v8_d -o $@


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