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occupancy_mapping_benchmarks's Introduction

Occupancy mapping benchmarks

Code to benchmark three open source Occupancy Mapping libraries: OctoMap, SkiMap, and OpenVDB for an RGBD mapping task based on the TUM RGBD dataset.

For discussion and instructions, read the article on my blog.

catkin init
catkin config --extend /opt/ros/melodic --merge-devel --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
catkin build

rosrun occupancy_mapping_benchmarks benchmark \
src/occupancy_mapping_benchmarks/rgbd_dataset_freiburg3_long_office_household-2hz-with-pointclouds.bag  > bench_output.txt

rosrun occupancy_mapping_benchmarks make_plots.py

Maintenance

To upgrade the Docker image:

( export TAG=nicolov/occupancy_mapping_benchmarks:0.0.1 && docker build -t $TAG . &&  docker push $TAG )

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