feat(slam): add rtabmap_ros

rtabmap/docker/jfr2018/Dockerfile

@@ -0,0 +1,230 @@
+# Image: introlab3it/rtabmap:jfr2018
+
+FROM ubuntu:16.04
+
+WORKDIR /root/
+
+# Install build dependencies
+RUN apt-get update && apt-get install -y \
+      libsqlite3-dev \
+      libpcl-dev \
+      git \
+      cmake \
+      libproj-dev \
+      libqt5svg5-dev \
+      libfreenect-dev \
+      libopenni2-dev \
+      libyaml-cpp-dev \
+      software-properties-common \
+      libgtk2.0-dev \
+      pkg-config
+
+# OpenCV (use version <= 3.1.0 for rtabmap 0.16.3 for a solvePnpRansac issue where we have worst ransac performance on newer opencv versions)
+RUN git clone https://github.com/opencv/opencv_contrib.git
+RUN git clone https://github.com/opencv/opencv.git
+RUN cd opencv_contrib && \
+    git checkout tags/3.1.0 && \
+    cd && \
+    cd opencv && \
+    git checkout tags/3.1.0 && \
+    mkdir build && \
+    cd build && \
+    cmake -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -rf opencv opencv_contrib
+
+# Install ROS to build other odometry approaches (depending on ROS)
+# install packages
+RUN apt-get update && apt-get install -q -y \
+    dirmngr \
+    gnupg2 \
+    lsb-release \
+    && rm -rf /var/lib/apt/lists/*
+
+# setup keys
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA116
+
+# setup sources.list
+RUN echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list
+
+# install bootstrap tools
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    python-rosdep \
+    python-rosinstall \
+    python-vcstools \
+    && rm -rf /var/lib/apt/lists/*
+
+# setup environment
+ENV LANG C.UTF-8
+ENV LC_ALL C.UTF-8
+
+# bootstrap rosdep
+RUN rosdep init \
+    && rosdep update
+
+# install ros packages
+ENV ROS_DISTRO kinetic
+RUN apt-get update && apt-get install -y \
+    ros-kinetic-ros-core=1.3.2-0* \
+    && rm -rf /var/lib/apt/lists/*
+
+# install ROS dependencies
+RUN apt-get update && apt-get install -y ros-kinetic-tf ros-kinetic-pcl-ros ros-kinetic-eigen-conversions ros-kinetic-tf-conversions ros-kinetic-random-numbers ros-kinetic-image-transport libblas-dev liblapack-dev libsuitesparse-dev libvtk6.2 libyaml-cpp-dev wget libgoogle-glog-dev libatlas-base-dev ros-kinetic-sophus ros-kinetic-octomap libglew-dev
+
+# g2o should be built to link on csparse installed system-wide (for rtabmap 0.17.4 build below)
+RUN git clone https://github.com/RainerKuemmerle/g2o.git
+RUN cd g2o && \
+    git checkout 20170730_git && \
+    mkdir build && \
+    cd build && \
+    cmake -DBUILD_LGPL_SHARED_LIBS=ON -DG2O_BUILD_APPS=OFF -DBUILD_WITH_MARCH_NATIVE=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j3 && \
+    make install && \
+    cd && \
+    rm -r g2o
+
+# GTSAM
+RUN git clone https://bitbucket.org/gtborg/gtsam.git
+RUN cd gtsam && \
+    git checkout 4.0.0-alpha2 && \
+    mkdir build && \
+    cd build && \
+    cmake -DMETIS_SHARED=ON -DGTSAM_BUILD_STATIC_LIBRARY=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j3 && \
+    make install && \
+    cd && \
+    rm -r gtsam
+
+# libpointmatcher 
+RUN git clone https://github.com/ethz-asl/libnabo.git
+#commit Apr 25 2018
+RUN cd libnabo && \
+    git checkout 7e378f6765393462357b8b74d8dc8c5554542ae6 && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j3 && \
+    make install && \
+    cd && \
+    rm -r libnabo
+RUN git clone https://github.com/ethz-asl/libpointmatcher.git
+#commit Jan 19 2018
+RUN cd libpointmatcher && \
+    git checkout 00004bd41e44a1cf8de24ad87e4914760717cbcc && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j3 && \
+    make install && \
+    cd && \
+    rm -r libpointmatcher
+
+# Clone dependencies
+RUN mkdir -p catkin_ws/src
+WORKDIR /root/catkin_ws/src
+RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace'
+RUN git clone https://github.com/tum-vision/dvo_slam.git && cd dvo_slam && git checkout kinetic-devel && rm dvo_slam/package.xml && rm dvo_benchmark/package.xml && rm dvo_ros/package.xml
+RUN git clone https://github.com/srv/viso2.git && cd viso2 && git checkout kinetic
+RUN git clone https://github.com/KumarRobotics/msckf_vio.git && cd msckf_vio && git checkout a9386c5 && wget https://gist.githubusercontent.com/matlabbe/f2518d7427e7f6740af2110e540b1f2b/raw/1b7c96b38e063bacfa77408686e4528f3d27af2e/msckf_vio_a9386c5_ros_commented.patch && git apply --ignore-space-change --ignore-whitespace msckf_vio_a9386c5_ros_commented.patch
+RUN git clone https://github.com/srv/libfovis.git && cd libfovis && git checkout db2fc39451e59317cf8486d92085da1c8e414785
+RUN git clone https://github.com/ros-perception/vision_opencv.git && cd vision_opencv && git checkout kinetic
+RUN git clone https://github.com/laboshinl/loam_velodyne.git && cd loam_velodyne && git checkout a4c364a677647f2a35831439032dc5a58378b3fd
+
+WORKDIR /root
+RUN git clone https://github.com/ethz-asl/okvis.git && cd okvis && git checkout 1dce9129f22dd4d21d944788cd9da3a4341586aa && wget https://gist.githubusercontent.com/matlabbe/383be55b5cb682fea217d45ef9a37ef8/raw/3dfc07f3b0b21d07c090f4bb81950f013163f9cf/okvis_1dce912_marchnative_disabled.patch && git apply --ignore-space-change --ignore-whitespace okvis_1dce912_marchnative_disabled.patch
+RUN git clone https://github.com/introlab/rtabmap.git && cd rtabmap && git checkout 0.16.3 && wget https://gist.githubusercontent.com/matlabbe/54c69e8c1008d2b3c237f335cb8a6c99/raw/1dc18f66930be3257ab6d93e80a4ce87d0f110bf/rtabmap-0.16.3-euroc-tool-fix.patch && git apply --ignore-space-change --ignore-whitespace rtabmap-0.16.3-euroc-tool-fix.patch
+RUN git clone https://github.com/stevenlovegrove/Pangolin.git
+RUN git clone https://github.com/raulmur/ORB_SLAM2.git && cd ORB_SLAM2 && wget https://gist.githubusercontent.com/matlabbe/c10403c5d44af85cc3585c0e1c601a60/raw/48adf04098960d86ddf225f1a8c68af87bfcf56e/orbslam2_f2e6f51_marchnative_disabled.patch && git apply --ignore-space-change --ignore-whitespace orbslam2_f2e6f51_marchnative_disabled.patch
+
+# for dvo, TBB is required (docker related issue)
+# Download and install TBB
+ENV TBB_RELEASE 2018_U2
+ENV TBB_VERSION 2018_20171205
+ENV TBB_DOWNLOAD_URL https://github.com/01org/tbb/releases/download/${TBB_RELEASE}/tbb${TBB_VERSION}oss_lin.tgz
+ENV TBB_INSTALL_DIR /opt
+RUN wget ${TBB_DOWNLOAD_URL} && \
+	tar -C ${TBB_INSTALL_DIR} -xf tbb${TBB_VERSION}oss_lin.tgz && \
+	rm tbb${TBB_VERSION}oss_lin.tgz && \
+	sed -i "s%SUBSTITUTE_INSTALL_DIR_HERE%${TBB_INSTALL_DIR}/tbb${TBB_VERSION}oss%" ${TBB_INSTALL_DIR}/tbb${TBB_VERSION}oss/bin/tbbvars.* && \
+        echo "source ${TBB_INSTALL_DIR}/tbb${TBB_VERSION}oss/bin/tbbvars.sh intel64" >> ~/.bashrc
+
+RUN cd okvis && \
+     mkdir build && \
+     cd build && \
+     cmake .. && \
+     make -j3 && \
+     make install && \
+     mkdir -p /usr/local/lib/cmake && \
+     mv /usr/local/lib/CMake/* /usr/local/lib/cmake/.
+
+# Pangolin needed for ORB_SLAM2
+RUN cd Pangolin && \
+     mkdir build && \
+     cd build && \
+     cmake .. && \
+     make -j3 && \
+     make install && \
+     cd && \
+     rm -rf Pangolin
+
+RUN cd ORB_SLAM2 && \
+     cd Thirdparty/DBoW2 && \
+     mkdir build && \
+     cd build && \
+     cmake .. -DCMAKE_BUILD_TYPE=Release && \
+     make -j3 && \
+     rm -rf * && \
+     cd ../../g2o && \
+     mkdir build && \
+     cd build && \
+     cmake .. -DCMAKE_BUILD_TYPE=Release && \
+     make -j3 && \
+     rm -rf * && \
+     cd ../../../ && \
+     cd Vocabulary && \
+     tar -xf ORBvoc.txt.tar.gz && \
+     cd .. && \
+     mkdir build && \
+     cd build && \
+     cmake .. -DCMAKE_BUILD_TYPE=Release && \
+     make -j3 && \
+     rm -rf *
+
+RUN mv okvis/config/config_fpga_p2_euroc.yaml .
+RUN mv ORB_SLAM2/Vocabulary/ORBvoc.txt .
+
+# Catkin_make
+WORKDIR /root/catkin_ws
+RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash;. ${TBB_INSTALL_DIR}/tbb${TBB_VERSION}oss/bin/tbbvars.sh intel64; catkin_make -j3 -DCMAKE_BUILD_TYPE=Release; rm -rf build;'
+RUN echo "source /root/catkin_ws/devel/setup.bash" >> ~/.bashrc
+
+ENV LD_LIBRARY_PATH /opt/tbb2018_20171205oss/lib/intel64/gcc4.7:/root/ORB_SLAM2/lib:/root/ORB_SLAM2/Thirdparty/g2o/lib:/root/ORB_SLAM2/Thirdparty/DBoW2/lib:/root/okvis/build/lib:/root/catkin_ws/devel/lib:/opt/ros/kinetic/lib:$LD_LIBRARY_PATH
+ENV PATH /root/catkin_ws/devel/bin:/opt/ros/kinetic/bin:$PATH
+ENV ORB_SLAM2_ROOT_DIR /root/ORB_SLAM2
+
+WORKDIR /root
+
+# Build RTAB-Map (using standard g2o, then a version for orbslam2, which uses its own g2o version)
+RUN cp -r rtabmap rtabmap_os2 && cp -r rtabmap rtabmap_msckf && cp -r rtabmap rtabmap_loam
+RUN cd rtabmap && \
+    cd build && \
+    cmake -DWITH_G2O=ON .. && \
+    make -j3 && \
+    make install && \
+    rm -rf * && \
+    ldconfig
+
+RUN cd rtabmap_os2 && \
+    cd build && \
+    cmake -DWITH_G2O=OFF .. && \
+    make -j3 && \
+    rm -rf *
+
+# rtabmap is crashing if LOAM and MSCKF dependencies are used at the same time, so split them
+RUN /bin/bash -c '. /root/catkin_ws/devel/setup.bash; cd rtabmap_loam ; git checkout tools/EurocDataset/main.cpp ;git checkout 0.17.4 ;cd build ;cmake -DWITH_MSCKF_VIO=OFF -DWITH_LOAM=ON -DWITH_G2O=ON -DWITH_FOVIS=OFF -DWITH_DVO=OFF -DWITH_OKVIS=OFF -DWITH_VISO2=OFF .. ;make -j3 ;rm -rf *'
+RUN /bin/bash -c '. /root/catkin_ws/devel/setup.bash; cd rtabmap_msckf ; git checkout tools/EurocDataset/main.cpp ;git checkout 0.17.4 ;cd build ;cmake -DWITH_MSCKF_VIO=ON -DWITH_LOAM=OFF -DWITH_G2O=ON -DWITH_FOVIS=OFF -DWITH_DVO=OFF -DWITH_OKVIS=OFF -DWITH_VISO2=OFF .. ;make -j3 ;rm -rf *'
+
+WORKDIR /root
+    

rtabmap/docker/jfr2018/README.md

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+Docker image used to reproduce all results for KITTI, EuRoC and TUM datasets of the following paper (for MIT Stata Center dataset, see this [page](https://github.com/introlab/rtabmap_ros/blob/master/launch/jfr2018)):
+
+ * M. Labbé and F. Michaud, “RTAB-Map as an Open-Source Lidar and Visual SLAM Library for Large-Scale and Long-Term Online Operation,” in Journal of Field Robotics, accepted, 2018. ([pdf](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/7/7a/Labbe18JFR_preprint.pdf)) ([Wiley](https://doi.org/10.1002/rob.21831))
+
+Pull image:
+```bash
+$ docker pull introlab3it/rtabmap:jfr2018
+```
+or create the image with the `Dockerfile` provided in this directory:
+```bash
+$ cd rtabmap/docker/jfr2018
+$ docker build -t introlab3it/rtabmap:jfr2018 . 
+```
+
+Make sure to extract datasets in a subfolder called `datasets` relative to scripts in this folder (you can copy the scripts outside rtabmap source directory for convenience). The testing folder tree should look like this:
+```bash
+datasets/kitti/devkit
+datasets/kitti/dataset/sequences/00
+datasets/kitti/dataset/sequences/01
+datasets/kitti/dataset/sequences/...
+datasets/euroc/MH_01_easy
+datasets/euroc/V1_01_easy
+datasets/euroc/...
+datasets/tum/rgbd_dataset_freiburg1_desk
+datasets/tum/rgbd_dataset_freiburg3_long_office_household
+datasets/tum/...
+
+run_all.sh
+run_kitti_datasets.sh
+run_euroc_datasets.sh
+run_tum_datasets.sh
+```
+
+For TUM dataset, use this script [associate.py](https://gist.github.com/matlabbe/484134a2d9da8ad425362c6669824798) to synchronize RGB and depth images before processing. Usage in a TUM dataset: `python associate.py rgb.txt depth.txt`, this will create `rgb_sync` and `depth_sync` folders.
+
+Process all datasets, results will be written to subfolders `results/euroc`, `results/kitti` and `results/tum`:
+```bash
+./run_all.sh
+```
+WARNING: processing all datasets with all different odometry approaches can require more than 10 hours to process. You can comment some configurations in [run_all.sh](https://github.com/introlab/rtabmap/blob/master/docker/jfr2018/run_all.sh) if you are interested in just one odometry approach or one dataset. A single sequence can be tested like this too:
+```bash
+# Processing only sequence 07 of the kitti dataset with F2M odometry approach
+./run_kitti_datasets.sh f2m 0 0 07
+```
+
+Show all results:
+```bash
+$ rtabmap-report --scale results
+```

rtabmap/docker/jfr2018/latest/Dockerfile

@@ -0,0 +1,281 @@
+# Image: introlab3it/rtabmap:jfr2018
+
+# Build this image:
+# $ cd rtabmap
+# $ docker build -t introlab3it/rtabmap:jfr2018 -f docker/jfr2018/latest/Dockerfile .
+
+FROM ubuntu:16.04
+
+WORKDIR /root/
+
+# Install build dependencies
+RUN apt-get update && apt-get install -y \
+      libsqlite3-dev \
+      libpcl-dev \
+      git \
+      cmake \
+      libproj-dev \
+      libqt5svg5-dev \
+      libfreenect-dev \
+      libopenni2-dev \
+      libyaml-cpp-dev \
+      software-properties-common \
+      libgtk2.0-dev \
+      pkg-config
+
+# OpenCV (use version <= 3.1.0 for rtabmap 0.16.3 for a solvePnpRansac issue where we have worst ransac performance on newer opencv versions)
+RUN git clone https://github.com/opencv/opencv_contrib.git
+RUN git clone https://github.com/opencv/opencv.git
+RUN cd opencv_contrib && \
+    git checkout tags/3.1.0 && \
+    cd && \
+    cd opencv && \
+    git checkout tags/3.1.0 && \
+    mkdir build && \
+    cd build && \
+    cmake -DOPENCV_EXTRA_MODULES_PATH=/root/opencv_contrib/modules -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=ON -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF .. && \
+    make -j4 && \
+    make install && \
+    cd && \
+    rm -rf opencv opencv_contrib
+
+# Install ROS to build other odometry approaches (depending on ROS)
+# install packages
+RUN apt-get update && apt-get install -q -y \
+    dirmngr \
+    gnupg2 \
+    lsb-release \
+    && rm -rf /var/lib/apt/lists/*
+
+# setup keys
+RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+
+# setup sources.list
+RUN echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list
+
+# install bootstrap tools
+RUN apt-get update && apt-get install --no-install-recommends -y --allow-unauthenticated \
+    python-rosdep \
+    python-rosinstall \
+    python-vcstools \
+    && rm -rf /var/lib/apt/lists/*
+
+# setup environment
+ENV LANG C.UTF-8
+ENV LC_ALL C.UTF-8
+
+# bootstrap rosdep
+RUN rosdep init \
+    && rosdep update
+
+# install ros packages
+ENV ROS_DISTRO kinetic
+RUN apt-get update && apt-get install -y \
+    ros-${ROS_DISTRO}-ros-core=1.3.2-0* \
+    && rm -rf /var/lib/apt/lists/*
+
+# install ROS dependencies
+RUN apt-get update && apt-get install -y ros-${ROS_DISTRO}-tf ros-${ROS_DISTRO}-pcl-ros ros-${ROS_DISTRO}-eigen-conversions ros-${ROS_DISTRO}-tf-conversions ros-${ROS_DISTRO}-random-numbers ros-${ROS_DISTRO}-image-transport libblas-dev liblapack-dev libsuitesparse-dev libvtk6.2 libyaml-cpp-dev wget libgoogle-glog-dev libatlas-base-dev ros-${ROS_DISTRO}-sophus ros-${ROS_DISTRO}-octomap libglew-dev
+
+# g2o should be built to link on csparse installed system-wide
+RUN git clone https://github.com/RainerKuemmerle/g2o.git
+RUN cd g2o && \
+    git checkout 20170730_git && \
+    mkdir build && \
+    cd build && \
+    cmake -DBUILD_LGPL_SHARED_LIBS=ON -DG2O_BUILD_APPS=OFF -DBUILD_WITH_MARCH_NATIVE=OFF -DG2O_BUILD_EXAMPLES=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j3 && \
+    make install && \
+    cd && \
+    rm -r g2o
+
+# GTSAM
+RUN git clone https://bitbucket.org/gtborg/gtsam.git
+RUN cd gtsam && \
+    git checkout 4.0.0-alpha2 && \
+    mkdir build && \
+    cd build && \
+    cmake -DMETIS_SHARED=ON -DGTSAM_BUILD_STATIC_LIBRARY=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j3 && \
+    make install && \
+    cd && \
+    rm -r gtsam
+
+# libpointmatcher 
+RUN git clone https://github.com/ethz-asl/libnabo.git
+#commit Apr 25 2018
+RUN cd libnabo && \
+    git checkout 7e378f6765393462357b8b74d8dc8c5554542ae6 && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j3 && \
+    make install && \
+    cd && \
+    rm -r libnabo
+RUN git clone https://github.com/ethz-asl/libpointmatcher.git
+#commit Jan 19 2018
+RUN cd libpointmatcher && \
+    git checkout 00004bd41e44a1cf8de24ad87e4914760717cbcc && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j3 && \
+    make install && \
+    cd && \
+    rm -r libpointmatcher
+
+# Clone dependencies
+RUN mkdir -p catkin_ws/src
+WORKDIR /root/catkin_ws/src
+RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace'
+# OPENCV ROS
+RUN git clone https://github.com/ros-perception/vision_opencv.git && cd vision_opencv && git checkout kinetic
+# make sure cv_bridge is rebuilt before other packages
+RUN /bin/bash -c 'cd /root/catkin_ws;. /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make -DCMAKE_BUILD_TYPE=Release; rm -rf build;'
+# DVO
+RUN git clone https://github.com/tum-vision/dvo_slam.git && cd dvo_slam && git checkout ${ROS_DISTRO}-devel && rm dvo_slam/package.xml && rm dvo_benchmark/package.xml && rm dvo_ros/package.xml
+# VISO2
+RUN git clone https://github.com/srv/viso2.git && cd viso2 && git checkout ${ROS_DISTRO}
+# MSCKF-VIO: using a patched version to be used outside ros and c++14:
+RUN git clone https://github.com/borongyuan/msckf_vio.git && cd msckf_vio && git checkout 916c917e5b481741c60732057f0141e8311962c1
+# FOVIS
+RUN git clone https://github.com/srv/libfovis.git && cd libfovis && git checkout 896acc8425e9fd7c5609153b8bad349ae1abbb50
+# LOAM
+RUN git clone https://github.com/laboshinl/loam_velodyne.git && cd loam_velodyne && git checkout a4c364a677647f2a35831439032dc5a58378b3fd
+# FLOAM
+RUN git clone https://github.com/wh200720041/floam.git && cd floam && git checkout 9fdb2ca60a2988c0db515c9c1567100fba8b58d8 && wget https://gist.githubusercontent.com/matlabbe/d8ab56e69146c18afbd1a3b05444c649/raw/f1f37ece5d5787c77f008cb89e9446fc20a40c1f/floam_as_library_support.patch && git apply --ignore-space-change --ignore-whitespace floam_as_library_support.patch
+# VINS-Fusion
+RUN git clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.git && cd VINS-Fusion && git checkout e72b5f7ae7437e8cf481cc0bcbfb5fe91bd3d640 && wget https://gist.githubusercontent.com/matlabbe/795ab37067367dca58bbadd8201d986c/raw/0657cc30fca6b1b61faeef42be9f3428861d2598/vins-fusion_e72b5f7.patch && git apply --ignore-space-change --ignore-whitespace vins-fusion_e72b5f7.patch
+# OpenVINS (currently failing because not right ceres version is installed)
+# RUN git clone https://github.com/rpng/open_vins.git && cd open_vins && git checkout 83ffb88ad35586d86bddc1e041094f4cd3d400df
+
+WORKDIR /root
+# OKVIS
+RUN git clone https://github.com/ethz-asl/okvis.git && cd okvis && git checkout 1dce9129f22dd4d21d944788cd9da3a4341586aa && wget https://gist.githubusercontent.com/matlabbe/383be55b5cb682fea217d45ef9a37ef8/raw/bd4f6886eeba3800f0e5171e77abc5dd6dc8bfd9/okvis_1dce912_marchnative_disabled.patch && git apply --ignore-space-change --ignore-whitespace okvis_1dce912_marchnative_disabled.patch
+# ORB_SLAM2
+RUN git clone https://github.com/stevenlovegrove/Pangolin.git && cd Pangolin && git checkout v0.6
+RUN git clone https://github.com/raulmur/ORB_SLAM2.git && cd ORB_SLAM2 && wget https://gist.githubusercontent.com/matlabbe/c10403c5d44af85cc3585c0e1c601a60/raw/48adf04098960d86ddf225f1a8c68af87bfcf56e/orbslam2_f2e6f51_marchnative_disabled.patch && git apply --ignore-space-change --ignore-whitespace orbslam2_f2e6f51_marchnative_disabled.patch
+
+# for dvo, TBB is required (docker related issue)
+# Download and install TBB
+ENV TBB_RELEASE 2018_U2
+ENV TBB_VERSION 2018_20171205
+ENV TBB_DOWNLOAD_URL https://github.com/01org/tbb/releases/download/${TBB_RELEASE}/tbb${TBB_VERSION}oss_lin.tgz
+ENV TBB_INSTALL_DIR /opt
+RUN wget ${TBB_DOWNLOAD_URL} && \
+	tar -C ${TBB_INSTALL_DIR} -xf tbb${TBB_VERSION}oss_lin.tgz && \
+	rm tbb${TBB_VERSION}oss_lin.tgz && \
+	sed -i "s%SUBSTITUTE_INSTALL_DIR_HERE%${TBB_INSTALL_DIR}/tbb${TBB_VERSION}oss%" ${TBB_INSTALL_DIR}/tbb${TBB_VERSION}oss/bin/tbbvars.* && \
+        echo "source ${TBB_INSTALL_DIR}/tbb${TBB_VERSION}oss/bin/tbbvars.sh intel64" >> ~/.bashrc
+
+RUN cd okvis && \
+     mkdir build && \
+     cd build && \
+     cmake .. && \
+     make -j3 && \
+     make install && \
+     mkdir -p /usr/local/lib/cmake && \
+     mv /usr/local/lib/CMake/* /usr/local/lib/cmake/.
+
+# Pangolin needed for ORB_SLAM2
+RUN cd Pangolin && \
+     mkdir build && \
+     cd build && \
+     cmake .. && \
+     make -j3 && \
+     make install && \
+     cd && \
+     rm -rf Pangolin
+
+RUN cd ORB_SLAM2 && \
+     cd Thirdparty/DBoW2 && \
+     mkdir build && \
+     cd build && \
+     cmake .. -DCMAKE_BUILD_TYPE=Release && \
+     make -j3 && \
+     rm -rf * && \
+     cd ../../g2o && \
+     mkdir build && \
+     cd build && \
+     cmake .. -DCMAKE_BUILD_TYPE=Release && \
+     make -j3 && \
+     rm -rf * && \
+     cd ../../../ && \
+     cd Vocabulary && \
+     tar -xf ORBvoc.txt.tar.gz && \
+     cd .. && \
+     mkdir build && \
+     cd build && \
+     cmake .. -DCMAKE_BUILD_TYPE=Release && \
+     make -j3 && \
+     rm -rf *
+
+RUN mv okvis/config/config_fpga_p2_euroc.yaml .
+RUN mv ORB_SLAM2/Vocabulary/ORBvoc.txt .
+RUN cp catkin_ws/src/VINS-Fusion/config/euroc/* .
+RUN cp catkin_ws/src/VINS-Fusion/config/kitti_odom/* .
+
+# Catkin_make
+WORKDIR /root/catkin_ws
+RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash;. ${TBB_INSTALL_DIR}/tbb${TBB_VERSION}oss/bin/tbbvars.sh intel64; catkin_make -j3 -DCMAKE_BUILD_TYPE=Release; rm -rf build;'
+RUN echo "source /root/catkin_ws/devel/setup.bash" >> ~/.bashrc
+
+ENV LD_LIBRARY_PATH /opt/tbb2018_20171205oss/lib/intel64/gcc4.7:/root/ORB_SLAM2/lib:/root/ORB_SLAM2/Thirdparty/g2o/lib:/root/ORB_SLAM2/Thirdparty/DBoW2/lib:/root/catkin_ws/devel/lib:/opt/ros/${ROS_DISTRO}/lib:$LD_LIBRARY_PATH
+ENV PATH /root/catkin_ws/devel/bin:/opt/ros/${ROS_DISTRO}/bin:$PATH
+ENV ORB_SLAM2_ROOT_DIR /root/ORB_SLAM2
+
+WORKDIR /root
+
+# To make "source" working
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+# Need cmake >=3.10
+RUN apt update && apt install -y wget && apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    wget -nv https://github.com/Kitware/CMake/releases/download/v3.17.0/cmake-3.17.0-Linux-x86_64.tar.gz && \
+    tar -xzf cmake-3.17.0-Linux-x86_64.tar.gz && \
+    rm cmake-3.17.0-Linux-x86_64.tar.gz &&\
+    ln -s ~/cmake-3.17.0-Linux-x86_64/bin/cmake ~/cmake
+
+# Copy current source code
+COPY . /root/rtabmap
+
+# Patch for OpenCV 3.1
+RUN cd rtabmap && git apply --ignore-space-change --ignore-whitespace docker/jfr2018/rtabmap_opencv310_backward_compatibility.patch
+
+# Build RTAB-Map (using standard g2o, then a version for orbslam2, which uses its own g2o version)
+RUN cp -r rtabmap rtabmap_os2 && cp -r rtabmap rtabmap_msckf && cp -r rtabmap rtabmap_loam
+
+RUN source /root/catkin_ws/devel/setup.bash && \
+    cd rtabmap && \
+    cd build && \
+    ~/cmake -DWITH_FOVIS=ON -DWITH_VISO2=ON -DWITH_DVO=ON -DWITH_OKVIS=ON -DWITH_VINS=ON -DWITH_OPENVINS=ON -DWITH_OPENGV=OFF .. && \
+    make -j3 && \
+    make install && \
+    rm -rf * && \
+    ldconfig
+# Version with orb_slam2 (system g2o disabled)
+RUN source /root/catkin_ws/devel/setup.bash && \
+    cd rtabmap_os2 && \
+    cd build && \
+    ~/cmake -DWITH_G2O=OFF -DWITH_ORB_SLAM=ON -DWITH_OPENGV=OFF .. && \
+    make -j3 && \
+    rm -rf *
+
+# rtabmap is crashing if LOAM and MSCKF dependencies are used at the same time, so split them
+RUN source /root/catkin_ws/devel/setup.bash && \
+    cd rtabmap_loam && \
+    cd build && \
+    ~/cmake  -DWITH_LOAM=ON -DWITH_FLOAM=ON -DWITH_OPENGV=OFF -DWITH_CERES=ON .. && \
+    make -j3 && \
+    rm -rf *
+RUN source /root/catkin_ws/devel/setup.bash && \
+    cd rtabmap_msckf && \
+    git apply --ignore-space-change --ignore-whitespace docker/jfr2018/rtabmap_msckf_ubuntu_16_compatibility.patch && \
+    cd build && \
+    ~/cmake -DWITH_MSCKF_VIO=ON -DWITH_OPENGV=OFF .. && \
+    make -j3 && \
+    rm -rf *
+
+WORKDIR /root
+    

rtabmap/docker/jfr2018/rtabmap_msckf_ubuntu_16_compatibility.patch

@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index c14cb659..2c370200 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -830,6 +830,8 @@ IF(NOT MSVC)
+     ENDIF()
+ ENDIF()
+ 
++set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fext-numeric-literals")
++
+ 
+ ####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
+ IF(APPLE AND BUILD_AS_BUNDLE)

rtabmap/docker/jfr2018/rtabmap_opencv310_backward_compatibility.patch

@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 9f2bfd83..65b03eef 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -228,7 +228,7 @@ ENDIF()
+ set(RTABMAP_QT_VERSION AUTO CACHE STRING "Force a specific Qt version.")
+ set_property(CACHE RTABMAP_QT_VERSION PROPERTY STRINGS AUTO 4 5 6)
+ 
+-FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS core calib3d imgproc highgui stitching photo video videoio OPTIONAL_COMPONENTS aruco xfeatures2d nonfree gpu cudafeatures2d)
++FIND_PACKAGE(OpenCV QUIET COMPONENTS core calib3d imgproc highgui stitching photo video videoio OPTIONAL_COMPONENTS aruco xfeatures2d nonfree gpu cudafeatures2d)
+ 
+ IF(WITH_QT)
+ FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization)

rtabmap/docker/jfr2018/run_all.sh

@@ -0,0 +1,33 @@
+#!/bin/bash
+
+# docker pull introlab3it/rtabmap:jfr2018
+
+mkdir -p results/kitti
+./run_kitti_datasets.sh f2m 0 0
+./run_kitti_datasets.sh f2f 11 0
+./run_kitti_datasets.sh s2m 0 1
+./run_kitti_datasets.sh s2s 1 1
+./run_kitti_datasets.sh fovis 2 0
+./run_kitti_datasets.sh viso2 3 0
+./run_kitti_datasets.sh os2 5 0
+./run_kitti_datasets.sh loam  7 1
+
+mkdir -p results/tum
+./run_tum_datasets.sh f2m 0
+./run_tum_datasets.sh f2f 11
+./run_tum_datasets.sh fovis 2
+./run_tum_datasets.sh dvo 4
+./run_tum_datasets.sh os2 5
+
+mkdir -p results/euroc
+./run_euroc_datasets.sh f2m 0 0
+./run_euroc_datasets.sh f2f 11 0
+./run_euroc_datasets.sh os2 5 0
+./run_euroc_datasets.sh msckf 88 0
+./run_euroc_datasets.sh fovis 2 0
+./run_euroc_datasets.sh viso2 3 0
+./run_euroc_datasets.sh okvis 66 0
+
+
+
+

rtabmap/docker/jfr2018/run_euroc_datasets.sh

@@ -0,0 +1,156 @@
+#!/bin/bash
+
+PWD=$(pwd)
+DOCKER=1 # set to 0 to use host rtabmap tool and relative datasets to this script
+
+DATASET_ROOT_PATH='./datasets/euroc'
+EUROC_RESULTS_PATH='./results/euroc'
+mkdir -p $EUROC_RESULTS_PATH
+if [ $DOCKER -eq 1 ]
+then
+    DATASET_ROOT_PATH='/root/datasets/euroc'
+    EUROC_RESULTS_PATH='/root/results/euroc'
+fi
+
+LIST=( 'V1_01_easy' 'V1_02_medium' 'V1_03_difficult' 'V2_01_easy' 'V2_02_medium' 'V2_03_difficult' 'MH_01_easy' 'MH_02_easy' 'MH_03_medium' 'MH_04_difficult' 'MH_05_difficult')
+
+STRATEGY=0
+OUTPUT="test"
+DISP=0
+if [ $# -eq 4 ] 
+then
+    OUTPUT=$1
+    STRATEGY=$2
+    DISP=$3
+    LIST=($4)
+elif [ $# -eq 3 ] 
+then
+    OUTPUT=$1
+    STRATEGY=$2
+    DISP=$3
+else
+echo "Usage: run_euroc_datasets.sh \"output name\" \"odom strategy: 0=f2m 1=f2f 11=f2f_optflow 2=fovis 3=viso2 4=dvo 5=orbslam2 6=okvis(rect) 66=okvis(raw) 8=msckf_vio(rect) 88=msckf_vio(raw) 9=vins_vio(rect) 99=vins_vio(raw) 10=vins_stereo(rect) 100=vins_stereo(raw)\" \"Disparity: 0 or 1\" [sequence]"
+exit
+fi
+
+#uncomment for graph gravity optimization
+#F2F_params="--Optimizer/GravitySigma 0.01 --g2o/PixelVariance 5"
+
+if [ $STRATEGY -eq 11 ] # F2F optical flow
+then
+    STRATEGY=1
+    F2F_params="--Vis/CorType 1 --Vis/MinInliers 20 --RGBD/OptimizeMaxError 0"
+fi
+
+if [ $STRATEGY -eq 1 ] # F2F
+then
+    F2F_params="--Odom/KeyFrameThr 0.6 $F2F_params"
+fi
+
+if [ $DISP -eq 1 ]
+then
+    F2F_params="--disp --StereoBM/NumDisparities 32 --StereoBM/UniquenessRatio 5 $F2F_params"
+else
+    F2F_params="--exposure_comp $F2F_params"
+fi
+
+if [ $STRATEGY -eq 66 ] # okvis raw images
+then
+    STRATEGY=6
+    F2F_params="--raw --Odom/GuessMotion false --OdomOKVIS/ConfigPath ./config_fpga_p2_euroc.yaml $F2F_params"
+fi
+if [ $STRATEGY -eq 6 ] # okvis
+then
+    F2F_params="--Odom/GuessMotion false --OdomOKVIS/ConfigPath ./config_fpga_p2_euroc.yaml $F2F_params"
+fi
+
+if [ $STRATEGY -eq 88 ] # msckf_vio raw images
+then
+    STRATEGY=8
+    F2F_params="--raw --Odom/GuessMotion false $F2F_params"
+fi
+if [ $STRATEGY -eq 8 ] # msckf_vio
+then
+    F2F_params="--Odom/GuessMotion false $F2F_params"
+fi
+
+if [ $STRATEGY -eq 99 ] # vins raw images
+then
+    STRATEGY=9
+    F2F_params="--raw --Odom/GuessMotion false --OdomVINS/ConfigPath ./euroc_stereo_imu_config.yaml $F2F_params"
+fi
+if [ $STRATEGY -eq 9 ] # vins
+then
+    F2F_params="--Odom/GuessMotion false --OdomVINS/ConfigPath ./euroc_stereo_imu_config.yaml $F2F_params"
+fi
+
+if [ $STRATEGY -eq 100 ] # vins (stereo-only) raw images
+then
+    STRATEGY=9
+    F2F_params="--raw --Odom/GuessMotion false --OdomVINS/ConfigPath ./euroc_stereo_config.yaml $F2F_params"
+fi
+if [ $STRATEGY -eq 10 ] # vins (stereo-only)
+then
+    F2F_params="--Odom/GuessMotion false --OdomVINS/ConfigPath ./euroc_stereo_config.yaml $F2F_params"
+fi
+
+RTABMAP_EUROC_TOOL="rtabmap-euroc_dataset"
+if [ $DOCKER -eq 1 ]
+then
+    # Select rtabmap built with os2 support or not
+    TOOL_PREFIX="/usr/local/bin"
+    if [ $STRATEGY -eq 5 ]
+    then
+        TOOL_PREFIX="/root/rtabmap_os2/bin"
+    elif [ $STRATEGY -eq 8 ]
+    then
+        TOOL_PREFIX="/root/rtabmap_msckf/bin"
+    fi
+    RTABMAP_EUROC_TOOL="docker run -v $PWD/datasets/euroc:$DATASET_ROOT_PATH -v $PWD/results/euroc:$EUROC_RESULTS_PATH -i -t --rm introlab3it/rtabmap:jfr2018 $TOOL_PREFIX/rtabmap-euroc_dataset"
+    if [ $STRATEGY -eq 6 ]
+    then
+        xhost +
+        RTABMAP_EUROC_TOOL="docker run -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v $PWD/datasets/euroc:$DATASET_ROOT_PATH -v $PWD/results/euroc:$EUROC_RESULTS_PATH -i -t --rm introlab3it/rtabmap:jfr2018 $TOOL_PREFIX/rtabmap-euroc_dataset"
+    fi
+fi
+echo $RTABMAP_EUROC_TOOL
+
+for d in "${LIST[@]}"
+do
+    V203_params=""
+    if [ "$d" == "V2_03_difficult" ]
+    then
+       if [[ $STRATEGY -eq 0 || $STRATEGY -eq 1 ]]
+       then
+           V203_params="--Vis/MinInliers 10 --Vis/PnPReprojError 3"
+       fi
+    fi
+
+    taskset 0x1 $RTABMAP_EUROC_TOOL \
+       --Rtabmap/PublishRAMUsage true\
+       --RGBD/LinearUpdate 0\
+       --RGBD/AngularUpdate 0\
+       --RGBD/ProximityBySpace false\
+       --Rtabmap/DetectionRate 2\
+       --Kp/FlannRebalancingFactor 1.0\
+       --GFTT/MinDistance 3\
+       --Odom/Strategy $STRATEGY\
+       --Mem/STMSize 30\
+       --Mem/UseOdomFeatures false \
+       --Mem/BinDataKept false \
+       --Rtabmap/CreateIntermediateNodes false\
+       --Vis/CorNNDR 0.6 \
+       --Vis/CorGuessWinSize 20 \
+       $V203_params\
+       $F2F_params\
+       --OdomORBSLAM2/VocPath /root/ORBvoc.txt\
+       --OdomORBSLAM2/ThDepth 35\
+       --OdomORBSLAM2/MaxFeatures 1200\
+       --output "$EUROC_RESULTS_PATH/$d"\
+       --output_name $OUTPUT\
+       --quiet\
+       $DATASET_ROOT_PATH/$d
+done
+# For V2_03_difficult: --Vis/MinInliers 10 --disp StereoBM/NumDisparities 32 --StereoBM/UniquenessRatio 5 --Vis/PnPReprojError 3
+
+

rtabmap/docker/jfr2018/run_kitti_datasets.sh

@@ -0,0 +1,144 @@
+#!/bin/bash
+
+PWD=$(pwd)
+DOCKER=1 # set to 0 to use host rtabmap tool and relative datasets to this script
+
+KITTI_ROOT_PATH='./datasets/kitti'
+KITTI_RESULTS_PATH='./results/kitti'
+mkdir -p $KITTI_RESULTS_PATH
+if [ $DOCKER -eq 1 ]
+then
+    KITTI_ROOT_PATH='/root/datasets/kitti'
+    KITTI_RESULTS_PATH='/root/results/kitti'
+fi
+
+LIST=('00' '01' '02' '03' '04' '05' '06' '07' '08' '09' '10')
+#LIST=('11' '12' '13' '14' '15' '16' '17' '18' '19' '20' '21')
+
+STRATEGY=0
+REG=0
+OUTPUT="test"
+if [ $# -eq 4 ] 
+then
+    OUTPUT=$1
+    STRATEGY=$2
+    REG=$3
+    LIST=($4)
+elif [ $# -eq 3 ]
+then
+    OUTPUT=$1
+    STRATEGY=$2
+    REG=$3
+else
+echo "Usage: run_kitti_datasets.sh \"output name\" \"odom strategy: 0=f2m 1=f2f 11=f2f_optflow 2=fovis 3=viso2 4=dvo 5=orbslam2 7=LOAM 9=VINS\" \"reg strategy: 0=vis 1=icp-point2point 11=icp-point2plane\" [sequence]"
+exit
+fi
+
+F2F_params=""
+if [ $STRATEGY -eq 11 ]
+then
+    STRATEGY=1
+    F2F_params="--Vis/CorType 1"
+fi
+
+if [ $STRATEGY -eq 1 ]
+then
+    F2F_params="--Odom/KeyFrameThr 0.6 $F2F_params"
+fi
+
+if [ $STRATEGY -eq 3 ]
+then
+    F2F_params=" $F2F_params"
+fi
+
+if [ $STRATEGY -eq 9 ]
+then
+    F2F_params="--OdomVINS/ConfigPath ./kitti_config04-12.yaml $F2F_params"
+fi
+
+SCAN=""
+if [[ $REG -eq 1 || $REG -eq 11 ]]
+then
+   if [ $REG -eq 11 ]
+   then
+      REG=1
+      if [ $STRATEGY -eq 7 ]
+      then
+         SCAN="--Mem/LaserScanVoxelSize 0.5 --Mem/LaserScanNormalK 10 --scan_voxel 0.0"
+      else
+         SCAN="--scan_k 10 --scan_voxel 0.5"
+      fi
+      SCAN="--Icp/PointToPlane true --Icp/PointToPlaneK 10 --Icp/PointToPlaneRadius 0 --Icp/Iterations 5 --Odom/ScanKeyFrameThr 0.6 $SCAN"
+   else
+      if [ $STRATEGY -eq 7 ]
+      then
+         SCAN="--Mem/LaserScanVoxelSize 0.5 --scan_voxel 0.0"
+      else
+         SCAN="--scan_voxel 0.5"
+      fi
+      SCAN="--Icp/PointToPlane false --Icp/Iterations 10 --Odom/ScanKeyFrameThr 0.8 $SCAN"
+   fi
+   SCAN="--scan --Reg/Strategy $REG --OdomF2M/ScanMaxSize 10000 --OdomF2M/ScanSubtractRadius 0.5 --Odom/LOAMSensor 2 --Icp/MaxTranslation 2 --Icp/Epsilon 0.0001 --Icp/MaxCorrespondenceDistance 1.5 --Icp/CorrespondenceRatio 0.01 --Icp/PM true --Icp/PMOutlierRatio 0.7 --Icp/PMMatcherKnn 3 --Icp/PMMatcherEpsilon 1 --Icp/ReciprocalCorrespondences false  $SCAN"
+fi
+
+RTABMAP_KITTI_TOOL="rtabmap-kitti_dataset"
+if [ $DOCKER -eq 1 ]
+then
+   # Select rtabmap built with os2 support or not
+   TOOL_PREFIX="/usr/local/bin"
+   if [ $STRATEGY -eq 5 ]
+   then
+       TOOL_PREFIX="/root/rtabmap_os2/bin"
+   elif [ $STRATEGY -eq 7 ]
+   then
+       TOOL_PREFIX="/root/rtabmap_loam/bin"
+   fi
+   RTABMAP_KITTI_TOOL="docker run -v $PWD/datasets/kitti:$KITTI_ROOT_PATH -v $PWD/results/kitti:$KITTI_RESULTS_PATH -i -t --rm introlab3it/rtabmap:jfr2018 $TOOL_PREFIX/rtabmap-kitti_dataset"
+fi
+echo $RTABMAP_KITTI_TOOL
+
+for d in "${LIST[@]}"
+do
+    taskset 0x1 $RTABMAP_KITTI_TOOL \
+       --Rtabmap/PublishRAMUsage true\
+       --Vis/MaxFeatures 1500\
+       --RGBD/LinearUpdate 0\
+       --RGBD/AngularUpdate 0\
+       --RGBD/ProximityBySpace false\
+       --Rtabmap/DetectionRate 2\
+       --Kp/MaxFeatures 750\
+       --Kp/FlannRebalancingFactor 1.0\
+       --GFTT/QualityLevel 0.01\
+       --GFTT/MinDistance 7\
+       --OdomF2M/MaxSize 3000\
+       --Rtabmap/CreateIntermediateNodes true\
+       --Odom/Strategy $STRATEGY\
+       $F2F_params \
+       --OdomORBSLAM2/VocPath /root/ORBvoc.txt\
+       --OdomORBSLAM2/ThDepth 40\
+       --OdomORBSLAM2/Fps 10\
+       --OdomORBSLAM2/MaxFeatures 2000\
+       --OdomViso2/MatchNmsN 7\
+       --OdomViso2/MatchRadius 300\
+       --FAST/Threshold 12\
+       --Mem/STMSize 30\
+       --Mem/UseOdomFeatures false \
+       --Mem/BinDataKept false \
+       --Vis/CorNNDR 0.6 \
+       --Vis/CorGuessWinSize 20 \
+       $SCAN \
+       --gt $KITTI_ROOT_PATH"/devkit/cpp/data/odometry/poses/$d.txt"\
+       --output "$KITTI_RESULTS_PATH/$d"\
+       --output_name $OUTPUT\
+       --quiet\
+       $KITTI_ROOT_PATH/dataset/sequences/$d
+done
+
+# ORB_SLAM2:
+# 0-2: --OdomORBSLAM2/ThDepth 35
+# 3-12: --OdomORBSLAM2/ThDepth 40 (default)
+# 0-3: --FAST/Threshold 20 (default)
+# 4-12: --FAST/Threshold 12 --OdomORBSLAM2/ThDepth 40
+# --OdomORBSLAM2/MaxFeatures 2000
+# 
+

rtabmap/docker/jfr2018/run_tum_datasets.sh

@@ -0,0 +1,101 @@
+#!/bin/bash
+
+PWD=$(pwd)
+DOCKER=1 # set to 0 to use host rtabmap tool and relative datasets to this script
+
+RGBD_ROOT_PATH='./datasets/tum'
+RGBD_RESULTS_PATH='./results/tum'
+mkdir -p $RGBD_RESULTS_PATH
+if [ $DOCKER -eq 1 ]
+then
+    RGBD_ROOT_PATH='/root/datasets/tum'
+RGBD_RESULTS_PATH='/root/results/tum'
+fi
+
+LIST=( 'rgbd_dataset_freiburg1_desk' 'rgbd_dataset_freiburg1_desk2' 'rgbd_dataset_freiburg1_room' 'rgbd_dataset_freiburg2_desk' 'rgbd_dataset_freiburg2_xyz' 'rgbd_dataset_freiburg3_long_office_household' 'rgbd_dataset_freiburg3_nostructure_texture_near_withloop_validation')
+# more: 'rgbd_dataset_freiburg1_360' 'rgbd_dataset_freiburg1_plant' 'rgbd_dataset_freiburg1_rpy' 'rgbd_dataset_freiburg1_teddy' 'rgbd_dataset_freiburg2_360_hemisphere' 'rgbd_dataset_freiburg2_large_no_loop' 'rgbd_dataset_freiburg2_large_with_loop' 'rgbd_dataset_freiburg1_floor'
+# Got Lost: 'rgbd_dataset_freiburg1_floor' (at 11 seconds end), 'rgbd_dataset_freiburg3_teddy'
+
+STRATEGY=0
+OUTPUT="test"
+if [ $# -eq 3 ] 
+then
+    OUTPUT=$1
+    STRATEGY=$2
+    LIST=($3)
+elif [ $# -eq 2 ] 
+then
+    OUTPUT=$1
+    STRATEGY=$2
+else
+echo "Usage: run_tum_datasets.sh \"output name\" \"odom strategy: 0=f2m 1=f2f 11=f2f_optflow 2=fovis 3=viso2 4=dvo 5=orbslam2\" [sequence]"
+exit
+fi
+
+F2F_params=""
+if [ $STRATEGY -eq 11 ]
+then
+    STRATEGY=1
+    F2F_params="--Vis/CorType 1"
+fi
+
+if [ $STRATEGY -eq 1 ]
+then
+    F2F_params="--Odom/KeyFrameThr 0.6 $F2F_params"
+fi
+
+if [[ $STRATEGY -eq 2 || $STRATEGY -eq 4 ]]
+then
+    F2F_params="--RGBD/OptimizeMaxError 0 $F2F_params"
+fi
+
+RTABMAP_RGBD_TOOL="rtabmap-rgbd_dataset"
+if [ $DOCKER -eq 1 ]
+then
+    # Select rtabmap built with os2 support or not
+    TOOL_PREFIX="/usr/local/bin"
+    if [ $STRATEGY -eq 5 ]
+    then
+        TOOL_PREFIX="/root/rtabmap_os2/bin"
+    fi
+    RTABMAP_RGBD_TOOL="docker run -v $PWD/datasets/tum:$RGBD_ROOT_PATH -v $PWD/results/tum:$RGBD_RESULTS_PATH -i -t --rm introlab3it/rtabmap:jfr2018 $TOOL_PREFIX/rtabmap-rgbd_dataset"
+fi
+echo $RTABMAP_RGBD_TOOL
+
+# no --disp with 01?
+for d in "${LIST[@]}"
+do
+
+    DETECTION_RATE=2
+    if [[ "$d" == "rgbd_dataset_freiburg1_desk" || "$d" == "rgbd_dataset_freiburg1_desk2" ]]
+    then
+        DETECTION_RATE=4
+    fi
+
+    taskset 0x1 $RTABMAP_RGBD_TOOL \
+       --Rtabmap/PublishRAMUsage true\
+       --RGBD/LinearUpdate 0\
+       --RGBD/AngularUpdate 0\
+       --Rtabmap/DetectionRate $DETECTION_RATE\
+       --Kp/FlannRebalancingFactor 1.0\
+       --GFTT/MinDistance 3\
+       --Odom/Strategy $STRATEGY\
+       --Mem/STMSize 30\
+       --Mem/UseOdomFeatures false \
+       --Mem/BinDataKept true \
+       --Rtabmap/CreateIntermediateNodes false\
+       --Vis/CorNNDR 0.6 \
+       --Vis/CorGuessWinSize 20 \
+       $F2F_params\
+       --OdomORBSLAM2/VocPath /root/ORBvoc.txt\
+       --OdomFovis/MinFeaturesForEstimate 10\
+       --output "$RGBD_RESULTS_PATH/$d"\
+       --output_name $OUTPUT\
+       --quiet\
+       $RGBD_ROOT_PATH/$d
+done
+
+
+#--Odom/Strategy 1\
+#--Vis/CorType 1\
+