slambench2 : SLAM performance evaluation framework

[lajoiepy]

Hi!

I recently attended a talk on slambench2 (https://github.com/pamela-project/slambench2), a SLAM performance evaluation framework to compare existing SLAM techniques with different metrics, and I think it would be great to include RTAB-map. They offer an API to include new algorithms to the test bench. RTAB-map is awesome, but it would be nice to have an easy way to compare it to different approaches. It could also be another good way to publicise this great software.

In any case, I hope you will continue your great work!

All the best,

Pierre-Yves

[matlabbe]

Hi Pierre-Yves,

I've heard of it from ICRA2019. It could be indeed interesting to add to repo. I was looking how they do that, currently they do a fork on the original projects and add a LIBRAYNAME_library.cpp file at the source. For example, I took a look at the orbslam2 fork here: https://github.com/pamela-project/ORB_SLAM2/blob/master/orbslam2_library.cpp

It could be possible to add a rtabmap_library.cpp file to official rtabmap repo, though I would like to call it rtabmap_slambench.cpp instead. I don't know yet how to pass cmake options to rtabmap when building from slambench (like don't build tools/examples/ui from rtabmap, just build librtabmap_core.so). One way could be that if I detect that SLAMBENCH_INCLUDE_DIRS is set, I disable everything else and build only librtabmap_core.so and rtabmap_slambench.cpp.

I don't have a lot of free time in the next week, but I'll try to keep it in mind!

cheers,
Mathieu