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https://github.com/jbehley/SuMa

Surfel-based Mapping for 3d Laser Range Data (SuMa)
https://github.com/jbehley/SuMa

kitti-dataset opengl rss2018 slam velodyne

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Surfel-based Mapping for 3d Laser Range Data (SuMa)

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# Surfel-based Mapping using 3D Laser Range Data



Mapping of 3d laser range data from a rotating laser range scanner, e.g., the Velodyne HDL-64E.

For representing the map, we use surfels that enables fast rendering of the map for point-to-plane ICP and loop closure detection.



## Publication



If you use our implementation in your academic work, please cite the corresponding paper:



J. Behley, C. Stachniss. *Efficient Surfel-Based SLAM using 3D Laser Range Data in Urban Environments*, Proc. of Robotics: Science and Systems (RSS), 2018.



The BibTeX entry for the paper is:  

    

	@inproceedings{behley2018rss, 

			author = {Jens Behley and Cyrill Stachniss},

			title  = {Efficient Surfel-Based SLAM using 3D Laser Range Data in Urban Environments},

			booktitle = {Proc.~of Robotics: Science and Systems~(RSS)},

			year = {2018}  

	}



##  Dependencies



* Qt5 >= 5.2.1

* OpenGL >= 3.3

* libEigen >= 3.2



In Ubuntu 22.04/20.04: Installing all dependencies is accomplished by:

```bash

  $  sudo apt-get install -y build-essential cmake libeigen3-dev libboost-all-dev qtbase5-dev libglew-dev

```



## Build



```

  $ mkdir build && cd build

  $ cmake .. -DCMAKE_BUILD_TYPE=Release -DOPENGL_VERSION=430 -DENABLE_NVIDIA_EXT=YES

  $ make -j5

```

  

  Where you have to set `OPENGL_VERSION` to the supported OpenGL core profile version of your system, which you can query as follows:



```bash

$ glxinfo | grep "version"

server glx version string: 1.4

client glx version string: 1.4

GLX version: 1.4

OpenGL core profile version string: 4.3.0 NVIDIA 367.44

OpenGL core profile shading language version string: 4.30 NVIDIA [...]

OpenGL version string: 4.5.0 NVIDIA 367.44

OpenGL shading language version string: 4.50 NVIDIA

```



 Here the line `OpenGL core profile version string: 4.3.0 NVIDIA 367.44` is important and therefore you should use `-DOPENGL_VERSION = 430`. If you are unsure you can also leave it on the default version `330`, which should be supported by all OpenGL-capable devices.



 If you have a NVIDIA device, like a Geforce or Quadro graphics card, you should also activate the NVIDIA extensions using `-DENABLE_NVIDIA_EXT=YES` for info about the current GPU memory usage of the program.

 

 Now the project root directory should contain a `bin` directory containing the visualizer.



## How to run and use it?



All binaries are copied to the `bin` directory of the source folder of the project. Thus,

1. run `visualizer` in the `bin` directory,

2. open a Velodyne directory from the KITTI Visual Odometry Benchmark and select a ".bin" file,

3. start the processing of the scans via the "play button" in the GUI.



In the `config` directory, different configuration files are given, which can be used as reference to set parameters for some experiments with other data. Specifying the right "vertical Field-of-View" (`data_fov_up` and `data_fov_down`) and the right number of scan lines (`data_height`) are the most important parameters.



See also the [project page](http://jbehley.github.io/projects/surfel_mapping/) for configuration files used for the evaluation in the paper.



## License



Copyright 2018 Jens Behley, University of Bonn.



This project is free software made available under the MIT License. For details see the LICENSE file.