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Makefile
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ECHO=/bin/echo
WGET:=wget
GET_REPLY:=read REPLY
ifeq ("${SBQUIET}","1")
GET_REPLY:=REPLY="y"
WGET:=wget -q
endif
####################################
#### SLAMBENCH INFOS (DEFAULT) ####
####################################
infos :
@${ECHO} -e "\n*** SLAMBench is an evaluation framework for SLAM algorithms. *** "
@${ECHO} -e "\n\
(1) First, several dependencies are needed to compile SLAMBench and its use-cases.\n\
If you may have already them installed on your system,\n\
we propose you to download and install them automatically using the following command :\n\
- \033[1;32mmake deps\033[0m\n\n\
- \033[1;32mmake gcc_cuda (If you do not have a compatible toolchain for CUDA)\033[0m\n\n\
(2) Then, to compile the SLAMBench framework you just need to type :\n\
- \033[1;32mmake slambench\033[0m\n\n\
(3) To compile the use-cases as well :\n\
- \033[1;32mmake slambench APPS=\"kfusion;lsdslam\"\033[0m\n\n\
However these use-cases are not distributed with SLAMBench, you will have to download them using the command:\n\
- \033[1;32mmake usecases\033[0m\n\n\
(4) Finally to run SLAM system with a particular dataset we recommand to run:\n\
- \033[1;32mmake datasets\033[0m\n\n\
"
####################################
#### SLAMBENCH BUILD ####
####################################
ROOT_DIR=$(shell pwd)
DEPS_DIR=$(ROOT_DIR)/deps
REPOS_DIR=$(DEPS_DIR)/repos
DEPS_BUILD_DIR=$(DEPS_DIR)/build
DEPS_ARGS=
DEPS_ENV=
#### Where dependencies are
####################################
include framework/makefiles/*.make
ifneq ("$(wildcard ${OPENNI2_LIBRARY})","")
DEPS_ARGS+= -DOPENNI2_LIBRARY=${OPENNI2_LIBRARY}
endif
ifneq ("$(wildcard ${OPENNI2_INCLUDE_PATH})","")
DEPS_ARGS+= -DOPENNI2_INCLUDE_PATH=${OPENNI2_INCLUDE_PATH}
endif
ifneq ("$(wildcard ${CUDA_TOOLKIT_ROOT_DIR})","")
DEPS_ARGS+= -DCUDA_TOOLKIT_ROOT_DIR=${CUDA_TOOLKIT_ROOT_DIR}
endif
ifneq ("$(wildcard ${GCC7_COMPILER})","")
DEPS_ARGS+= -DCUDA_HOST_COMPILER=${GCC7_COMPILER}
endif
ifneq ("$(wildcard ${GCC5_COMPILER})","")
DEPS_ARGS+= -DCUDA_HOST_COMPILER=${GCC5_COMPILER}
endif
ifneq ("$(wildcard ${CERES_DIR})","")
DEPS_ARGS+= -DCERES_DIR=${CERES_DIR}
endif
ifneq ("$(wildcard ${GVARS_INCLUDE_DIR})","")
DEPS_ARGS+= -DGVARS_INCLUDE_DIR=${GVARS_INCLUDE_DIR}
endif
ifneq ("$(wildcard ${GVARS_LIBRARY})","")
DEPS_ARGS+= -DGVARS_LIBRARY=${GVARS_LIBRARY}
endif
ifneq ("$(wildcard ${CVD_INCLUDE_DIR})","")
DEPS_ARGS+= -DCVD_INCLUDE_DIR=${CVD_INCLUDE_DIR}
endif
ifneq ("$(wildcard ${CVD_LIBRARY})","")
DEPS_ARGS+= -DCVD_LIBRARY=${CVD_LIBRARY}
endif
ifneq ("$(wildcard ${OPENGV_INCLUDE_DIR})","")
DEPS_ARGS+= -DOPENGV_INCLUDE_DIR=${OPENGV_INCLUDE_DIR}
endif
ifneq ("$(wildcard ${OPENGV_LIBRARY})","")
DEPS_ARGS+= -DOPENGV_LIBRARY=${OPENGV_LIBRARY}
endif
ifneq ("$(wildcard ${BRISK_INCLUDE_DIR})","")
DEPS_ARGS+= -DBRISK_INCLUDE_PATH=${BRISK_INCLUDE_DIR}
endif
ifneq ("$(wildcard ${PANGOLIN_DIR})","")
DEPS_ENV+= Pangolin_DIR=${PANGOLIN_DIR}
endif
ifneq ("$(wildcard ${EIGEN3_INCLUDE_DIR})","")
DEPS_ARGS+= -DEIGEN3_INCLUDE_DIR=${EIGEN3_INCLUDE_DIR} -DEIGEN3_VERSION_OK=ON
DEPS_ARGS+= -DEIGEN_INCLUDE_DIR=${EIGEN3_INCLUDE_DIR} -DEIGEN_VERSION_OK=ON
endif
ifneq ("$(wildcard ${TOON_INCLUDE_DIR})","")
DEPS_ARGS+= -DTOON_INCLUDE_PATH=${TOON_INCLUDE_DIR}
endif
ifneq ("$(wildcard ${OPENCV_DIR})","")
DEPS_ENV+= OpenCV_DIR=${OPENCV_DIR}
endif
ifneq ("$(wildcard ${BRISK_DIR})","")
DEPS_ENV+= brisk_DIR=${BRISK_DIR}/
endif
ifneq ("$(wildcard ${PCL_DIR})","")
DEPS_ENV+= PCL_DIR=${PCL_DIR}/
endif
ifneq ("$(wildcard ${G2O_DIR})","")
DEPS_ENV+= G2O_ROOT=${G2O_DIR}/
endif
ifneq ("$(wildcard ${CUDA_INC_PATH})","")
DEPS_ENV+= CUDA_INC_PATH=${CUDA_INC_PATH}/
endif
ifneq ("$(wildcard ${SUITE_SPARSE_ROOT})","")
DEPS_ARGS+= -DSUITE_SPARSE_ROOT=${SUITE_SPARSE_ROOT}
endif
ifneq ("$(wildcard ${FREEIMAGE_INCLUDE_PATH})","")
DEPS_ARGS+= -DFreeImage_INCLUDE_PATH="${FREEIMAGE_INCLUDE_PATH}"
DEPS_ARGS+= -DFreeImage_DYNAMIC_LIBRARY="${FREEIMAGE_DYNAMIC_LIBRARY}"
endif
#### Compilation targets
####################################
deps :
+make brisk
+make ceres
+make cvd
+make eigen3
+make flann
+make freeimage
+make g2o
+make gvars
+make opencv
+make opengv
+make opentuner
+make pangolin
+make pcl
+make suitesparse
+make toon
.PHONY: deps
build/Makefile : framework/CMakeLists.txt
mkdir -p build/
${DEPS_ENV} cmake -U -Bbuild -H. -DAPPS="${APPS}" ${DEPS_ARGS} -D"CMAKE_MODULE_PATH:PATH=${ROOT_DIR}/cmake_modules"
.PHONY: build/Makefile
slambench: build/Makefile
$(MAKE) -C build $(MFLAGS)
@echo ""
@echo "================================================================================================================="
@echo "The SLAMBench library should have been compiled, you will find binaries in build/bin, and libraries in build/lib."
@echo ""
@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 ""
@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 ""
@echo "The list of current use-case libraries available is:"
@echo ""
@for f in `ls build/lib/lib*-library.so 2> /dev/null || echo Nothing` ; do echo $$f ; done
@echo ""
@echo "The list of current filters available is:"
@echo ""
@for f in `ls build/lib/lib*-filter.so 2> /dev/null || echo Nothing` ; do echo $$f ; done
@echo ""
@echo "As a next step we suggest you to run \"make usecases\" or \"make slambench APPS=all\"."
@echo ""
@echo "================================================================================================================="
@echo ""
framework/makefiles/benchmarks.makefile : framework/makefiles/download_benchmarks.py benchmarks/benchmarks.repos
python $^ > $@
include framework/makefiles/benchmarks.makefile
datasets :
@echo ""
@echo "================================================================================================================="
@echo "SLAMBench integrates tools to automatically generate files compatible with SLAMBench from existing datasets."
@echo ""
@echo "The list of current dataset is: "
@for f in `find datasets/ | grep [.]slam` ; do echo " - $$f" ; done
@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 " - 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 "================================================================================================================="
datasetslist:
@echo ""
@echo "### ICL-NUIM Living Room"
@echo ""
@echo "make ./datasets/ICL_NUIM/living_room_traj0_loop.slam"
@echo "make ./datasets/ICL_NUIM/living_room_traj1_loop.slam"
@echo "make ./datasets/ICL_NUIM/living_room_traj2_loop.slam"
@echo "make ./datasets/ICL_NUIM/living_room_traj3_loop.slam"
@echo ""
@echo ""
@echo "### TUM Testing and Debugging"
@echo ""
@echo "make ./datasets/TUM/freiburg1/rgbd_dataset_freiburg1_xyz.slam"
@echo "make ./datasets/TUM/freiburg1/rgbd_dataset_freiburg1_rpy.slam"
@echo "make ./datasets/TUM/freiburg2/rgbd_dataset_freiburg2_xyz.slam"
@echo "make ./datasets/TUM/freiburg2/rgbd_dataset_freiburg2_rpy.slam"
@echo ""
@echo ""
@echo "### TUM Handheld SLAM"
@echo ""
@echo "make ./datasets/TUM/freiburg1/rgbd_dataset_freiburg1_360.slam"
@echo "make ./datasets/TUM/freiburg1/rgbd_dataset_freiburg1_floor.slam"
@echo "make ./datasets/TUM/freiburg1/rgbd_dataset_freiburg1_desk.slam"
@echo "make ./datasets/TUM/freiburg1/rgbd_dataset_freiburg1_desk2.slam"
@echo "make ./datasets/TUM/freiburg1/rgbd_dataset_freiburg1_room.slam"
@echo ""
@echo "make ./datasets/TUM/freiburg2/rgbd_dataset_freiburg2_360_hemisphere.slam"
@echo "make ./datasets/TUM/freiburg2/rgbd_dataset_freiburg2_360_kidnap.slam"
@echo ""
@echo "make ./datasets/TUM/freiburg2/rgbd_dataset_freiburg2_desk.slam"
@echo "make ./datasets/TUM/freiburg2/rgbd_dataset_freiburg2_desk_with_person.slam"
@echo "make ./datasets/TUM/freiburg2/rgbd_dataset_freiburg2_large_no_loop.slam"
@echo "make ./datasets/TUM/freiburg2/rgbd_dataset_freiburg2_large_with_loop.slam"
@echo ""
@echo "### TUM Robot SLAM"
@echo ""
@echo "make ./datasets/TUM/freiburg2/rgbd_dataset_freiburg2_pioneer_360.slam"
@echo "make ./datasets/TUM/freiburg2/rgbd_dataset_freiburg2_pioneer_slam.slam"
@echo "make ./datasets/TUM/freiburg2/rgbd_dataset_freiburg2_pioneer_slam2.slam"
@echo "make ./datasets/TUM/freiburg2/rgbd_dataset_freiburg2_pioneer_slam3.slam"
@echo ""
@echo "##### TUM Extra dataset"
@echo ""
@echo "## https://vision.in.tum.de/rgbd/dataset/freiburg3/rgbd_dataset_freiburg3_long_office_household.tgz"
@echo ""
@echo ""
@echo "### EuRoC MAV Machine Hall"
@echo ""
@echo "make ./datasets/EuRoCMAV/machine_hall/MH_01_easy/MH_01_easy.slam"
@echo "make ./datasets/EuRoCMAV/machine_hall/MH_02_easy/MH_02_easy.slam"
@echo "make ./datasets/EuRoCMAV/machine_hall/MH_03_medium/MH_03_medium.slam"
@echo "make ./datasets/EuRoCMAV/machine_hall/MH_04_difficult/MH_04_difficult.slam"
@echo "make ./datasets/EuRoCMAV/machine_hall/MH_05_difficult/MH_05_difficult.slam"
@echo ""
@echo "### EuRoC MAV Vicon Room"
@echo ""
@echo "make ./datasets/EuRoCMAV/vicon_room1/V1_01_easy/V1_01_easy.slam"
@echo "make ./datasets/EuRoCMAV/vicon_room1/V1_02_medium/V1_02_medium.slam"
@echo "make ./datasets/EuRoCMAV/vicon_room1/V1_03_difficult/V1_03_difficult.slam"
@echo "make ./datasets/EuRoCMAV/vicon_room2/V2_01_easy/V2_01_easy.slam"
@echo "make ./datasets/EuRoCMAV/vicon_room2/V2_02_medium/V2_02_medium.slam"
@echo "make ./datasets/EuRoCMAV/vicon_room2/V2_03_difficult/V2_03_difficult.slam"
@echo ""
@echo ""
@echo "### SVO test dataset"
@echo ""
@echo "make datasets/SVO/artificial.slam"
@echo ""
@echo ""
@echo "================================================================================================================="
@echo -e "If you are using one of those dataset, \033[1;31mplease refer to their respective publications\033[0m:"
@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
####################################
#### DATA SET GENERATION ####
####################################
#### EuRoCMAV
###############
./datasets/EuRoCMAV/%.zip : # Example : $* = machine_hall/MH_01_easy/MH_01_easy
mkdir -p $(@D)
cd $(@D) && ${WGET} "http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/$*.zip"
./datasets/EuRoCMAV/%.dir : ./datasets/EuRoCMAV/%.zip
mkdir $@
unzip $< -d $@
./datasets/EuRoCMAV/%.slam : ./datasets/EuRoCMAV/%.dir
if [ ! -e ./build/bin/dataset-generator ] ; then make slambench ; fi
./build/bin/dataset-generator -d eurocmav -i $</mav0 -o $@ -imu true -stereo true -gt true
#### TUM
###############
./datasets/TUM/%.tgz : # Example : $* = freiburg2/rgbd_dataset_freiburg2_desk
mkdir -p $(@D)
cd $(@D) && ${WGET} "http://vision.in.tum.de/rgbd/dataset/$*.tgz"
./datasets/TUM/%.dir : ./datasets/TUM/%.tgz
mkdir $@
tar xzf $< -C $@
./datasets/TUM/%.slam : ./datasets/TUM/%.dir
if [ ! -e ./build/bin/dataset-generator ] ; then make slambench ; fi
./build/bin/dataset-generator -d tum -i $</* -o $@ -grey true -rgb true -gt true -depth true -accelerometer true
#### ICL-NUIM
###############
datasets/ICL_NUIM/living-room.ply : datasets/ICL_NUIM/living-room.ply.tar.gz
cd datasets/ICL_NUIM && tar xzf living-room.ply.tar.gz
touch datasets/ICL_NUIM/living-room.ply # This is a fix to ensure not regenerating the file again because of file create date
datasets/ICL_NUIM/living-room.ply.tar.gz :
mkdir -p datasets/ICL_NUIM
cd datasets/ICL_NUIM && ${WGET} "http://www.doc.ic.ac.uk/~ahanda/living-room.ply.tar.gz"
datasets/ICL_NUIM/%_loop.tgz :
mkdir -p datasets/ICL_NUIM
cd datasets/ICL_NUIM && ${WGET} "http://www.doc.ic.ac.uk/~ahanda/$*_loop.tgz"
datasets/ICL_NUIM/%_loop.dir : datasets/ICL_NUIM/%_loop.tgz
mkdir -p $@
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
./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
./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
datasets/ICL_NUIM/%.gt.freiburg :
${ECHO} "Download ground truth trajectory..."
mkdir -p datasets/ICL_NUIM/
cd datasets/ICL_NUIM/ && if test -x livingRoom$*.gt.freiburg ; then ${ECHO} "Done" ; else ${WGET} "http://www.doc.ic.ac.uk/~ahanda/VaFRIC/$*.gt.freiburg" ; fi
datasets/ICL_KLG/dyson_lab.klg :
mkdir -p datasets/ICL_KLG/
cd datasets/ICL_KLG/ && ${WGET} http://www.doc.ic.ac.uk/%7Esleutene/datasets/elasticfusion/dyson_lab.klg
#### SVO-artificial
###############
datasets/SVO/artificial.tar.gz:
mkdir -p datasets/SVO/
cd datasets/SVO && ${WGET} -O artificial.tar.gz "http://rpg.ifi.uzh.ch/datasets/sin2_tex2_h1_v8_d.tar.gz"
datasets/SVO/artificial.dir: ./datasets/SVO/artificial.tar.gz
mkdir -p $@
tar -xzf $< -C $@
datasets/SVO/artificial.slam: ./datasets/SVO/artificial.dir
if [ ! -e ./build/bin/dataset-generator ] ; then make slambench ; fi
./build/bin/dataset-generator -d svo -i $</sin2_tex2_h1_v8_d -o $@
#### ORBSLAM Voc
#################
./benchmarks/orbslam2/src/original/Vocabulary/ORBvoc.txt : ./benchmarks/orbslam2/src/original/Vocabulary/ORBvoc.txt.tar.gz
cd ./benchmarks/orbslam2/src/original/Vocabulary/ && tar -xf ORBvoc.txt.tar.gz
.PRECIOUS: ./datasets/TUM/%.tgz ./datasets/TUM/%.dir ./datasets/TUM/%.raw datasets/ICL_NUIM/living_room_traj%_loop.tgz ./datasets/TUM/%.raw datasets/ICL_NUIM/living_room_traj%_loop.dir datasets/ICL_NUIM/livingRoom%.gt.freiburg datasets/ICL_NUIM/living_room_traj%_loop.raw
####################################
#### BUILD/CLEAN TOOL ####
####################################
#### CLEAN/CLEANALL TOOLS ####
clean :
rm -rf build install android-build android-install docker/tmp/
cleandatasets :
find datasets/ | grep [.]slam | xargs rm 2> /dev/null || true
@echo "Datasets Cleaned"
cleandeps :
rm -rf deps
cleanall : clean cleandatasets cleandeps
.PHONY: clean cleandeps cleandatasets cleanall
####################################
#### DEMO PART ####
####################################
demo-prepare :
make slambench APPS=all
make datasets/ICL_NUIM/living_room_traj2_loop.slam
make datasets/EuRoCMAV/machine_hall/MH_01_easy/MH_01_easy.slam
make datasets/TUM/freiburg2/rgbd_dataset_freiburg2_desk.slam
demo-lib :
clear
@${ECHO} -e " "
@${ECHO} -e " ======================="
@${ECHO} -e " Pick UI "
@${ECHO} -e " * depends on the purpose "
@${ECHO} -e " ======================="
@${ECHO} -e " "
@for d in `find ./build/bin/ -name *_loader ` ; do ${ECHO} " $$d" ; done
@${ECHO} -e " "
@${ECHO} -e " ======================="
@${ECHO} -e " Pick dataset "
@${ECHO} -e " * the slam format includes camera parameters "
@${ECHO} -e " ======================="
@${ECHO} -e " "
@for d in `find datasets/ | grep [.]slam` ; do ${ECHO} " -i $$d" ; done
@${ECHO} -e " "
@${ECHO} -e " ======================="
@${ECHO} -e " Pick libraries "
@${ECHO} -e " * may requires parameters"
@${ECHO} -e " * do not need to be open source"
@${ECHO} -e " ======================="
@${ECHO} -e " "
@for d in `find build/lib/| grep [-]library[.]so` ; do ${ECHO} " -load $$d" ; done
@${ECHO} -e " "
@${ECHO} -e " "
@${ECHO} -e " ======================="
####################################
#### TEST PART ####
####################################
regression_test :
make -C docker fastCI-docker-image # First test compilation of slambench and run kfusion
make -C docker ubuntu-14.04-docker-image # Second compilation for embedded systems such as Odroid or TK1
# third run slambench for multiple datasets and check ATE and Memory usage
test :
make -C docker fastCI-docker-image