GSLAM (A General SLAM Framework and BenchMark)

1. Introduction

1.1. What is GSLAM?

GSLAM is aimed to provide a general open-source SLAM framework and benchmark with following features :

-> 1. Share the same API while maintain compatibility with different SLAM systems (such as feature based or direct methods).

-> 2. Support Monocular, Stereo, RGB-D or any custom input types (SAR, IMU, GPS and so on).

-> 3. Provide high efficient implementations of SLAM util classes like SO3, SE3, Camera, IMU, GPS, Bundle and so on.

-> 4. Support other features like coorperation SLAM to build a singular map.

-> 5. Provide benchmark tools for SLAM performance evaluation, make it easy to compare between SLAM systems.

1.2. What we can do with GSLAM?

1. For SLAM developers : Everyone can develop their own SLAM implementation based on GSLAM and publish it as a plugin with open-source or not.
2. For SLAM users : Applications are able to use different SLAM plugins with the same API without recompilation and implementations are loaded at runtime.

1.3. Folder structure

• GSLAM -- source folder

• core -- Common SLAM APIs with only headers [c++11]
• utils -- Utils for GSLAM implementations including Optimizer(PnP,ICP,BA,PoseGraph .etc), LoopDetector and so on. [Eigen3 ceres-solver]
• gslam -- Test system of GSLAM (Apllication demo) [Qt OpenCV OpenGL GLEW GLUT QGLViewer]

• doc --- documents

1.4. Implemented SLAM plugin

SLAM Plugin Name	Plugin Authers	Demostration
DSO	Yong Zhao
ORBSLAM	Yong Zhao

2. Compilation and Install

2.1. Compile on linux (Tested in Ubuntu 14.04 and 16.04)

2.1.1 Install dependency

OpenCV : sudo apt-get install libopencv-dev

Qt : sudo apt-get install build-essential g++ libqt4-core libqt4-dev libqt4-gui qt4-doc qt4-designer

OpenGL:sudo apt-get install freeglut3 freeglut3-dev libglew-dev libglew1.10

QGLViewer : sudo apt-get install libqglviewer-dev libqglviewer2

** WARNING: It it Qt4 instead of Qt5 that should be installed! For Ubuntu 16.06 libqglviewer-qt4 should be linked. **

2.1.2 Compile and insall GSLAM

mkdir build;cd build;
cmake ..;make;sudo make install

###2.2 Compile on windows Not tested yet.

3. Run the demo

3.1. Test modules

gslam Act=Tests --gtest_filter=*

3.2. Test slam system

gslam Dataset=(dataset file) SLAM=(the slam plugin)

3.3. Configuration with Svar

More parameters can be setted with Svar at file *.cfg. See more details of Svar at PILBASE.

4. Contacts

YongZhao: [email protected]

ShuhuiBu: [email protected]