feat(slam): add rtabmap_ros

2025-07-14 11:34:38 +08:00
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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
+```