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.
- Linux distribution.
- Windows WSL2
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
$ 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
$ 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.
$ 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.
$ 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