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README.md

Methods in Benchmark

Please visit 📓our wiki page for detailed tutorials and the latest updates documentation.

Demo Image, results you can have after reading this README:

Octomap Image

All of them have same dependencies [PCL, Glog, yaml-cpp], we will show how to install and build:

Install & Build

Test computer and System:

  • Desktop setting: i9-12900KF, 64GB RAM, Swap 90GB, 1TB SSD
  • System setting: Ubuntu 20.04 [ROS noetic-full installed in system]

Dependencies listed following if you want to install them manually, or you can use docker to build and run if you don't like trash your env.

Docker

If you want to use docker, please check Dockerfile for more details. This can also be a reference for you to install the dependencies.

cd DynamicMap_Benchmark
docker build -t zhangkin/dynamic_map .
docker run -it --rm --name dynamicmap -v /home/kin/data:/home/kin/data zhangkin/dynamic_map /bin/zsh
  • -v means link your data folder to docker container, so you can use your data in docker container. -v ${your_env_path}:${container_path}
  • If it's hard to build, you can always use docker pull zhangkin/dynamic_map to pull the image from docker hub.

PCL

Normally, you will directly have PCL and OpenCV library if you installed ROS-full in your computer. Otherwise

sudo apt update && sudo apt install -y libpcl-dev

glog gflag [for print]

You can install them manually or use the script to install them.

# option 1:
sudo apt install -y libgoogle-glog-dev libgflags-dev

# option 2:
sh -c "$(wget -O- https://raw.githubusercontent.com/Kin-Zhang/Kin-Zhang/main/Dockerfiles/latest_glog_gflag.sh)"

Build

cd ${methods you want}
cmake -B build && cmake --build build

RUN

Check each methods config file in their own folder config/*.yaml or assets/*.yaml

./build/${methods_name}_run ${data_path} ${config.yaml/toml} -1

For example, if you want to run octomap with GF

./build/octomap_run /home/kin/data/00 assets/config_fg.toml -1

Then you can get a time table with clean map result from Octomap w GF like top image shows.

All Running commands, -1 means all pcd files in the pcd folder, otherwise the default is 10/1 frames.

./build/octomap_run ${data_path} ${config.toml} -1
python BeautyMap/main.py --data_dir ${data_path} --run_file_num -1
./build/dufomap_run ${data_path} ${config.toml}

Quick view on results

Both with quantitative table and qualitative result