Re: slambench2 : SLAM performance evaluation framework

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/slambench2-SLAM-performance-evaluation-framework-tp5965p5970.html

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