diff --git a/examples/Makefile b/examples/Makefile
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+++ b/examples/Makefile
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+# Makefile for BreezySLAM demos
+#
+# Copyright (C) 2014 Simon D. Levy
+#
+# This code is free software: you can redistribute it and/or modify
+# it under the terms of the GNU Lesser General Public License as 
+# published by the Free Software Foundation, either version 3 of the 
+# License, or (at your option) any later version.
+#
+# This code is distributed in the hope that it will be useful,     
+# but WITHOUT ANY WARRANTY without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+
+# You should have received a copy of the GNU Lesser General Public License 
+# along with this code.  If not, see <http://www.gnu.org/licenses/>.
+
+# Where you put the libbreezyslam library
+LIBDIR = /usr/local/lib
+
+# Use EOG or your favorite image-display program
+VIEWER = eog
+
+# Set these for different experiments
+DATASET = exp2
+USE_ODOMETRY = 1
+RANDOM_SEED  = 9999
+
+all: log2pgm
+
+pytest: 
+	./log2pgm.py $(DATASET) $(USE_ODOMETRY) $(RANDOM_SEED)
+	$(VIEWER) $(DATASET).pgm ~/Desktop/$(DATASET).pgm
+
+cpptest: log2pgm 
+	./log2pgm $(DATASET) $(USE_ODOMETRY) $(RANDOM_SEED)
+	$(VIEWER) $(DATASET).pgm
+
+log2pgm: log2pgm.o 
+	g++ -O3 -o log2pgm log2pgm.o -L$(LIBDIR) -lbreezyslam
+
+log2pgm.o: log2pgm.cpp 
+	g++ -O3 -c -I ../c++ log2pgm.cpp
+
+bench: $(DATASET).pgm
+	./benchmark.py $(DATASET) 1000
+
+$(DATASET).pgm:
+	./log2pgm.py $(DATASET) $(USE_ODOMETRY) $(RANDOM_SEED)
+
+bigtest: log2pgm
+	./log2pgm.py $(DATASET) 1 $(RANDOM_SEED)
+	mv $(DATASET).pgm $(DATASET)_py.pgm
+	./log2pgm $(DATASET) 1 $(RANDOM_SEED)
+	mv $(DATASET).pgm $(DATASET)_cpp.pgm
+	$(VIEWER) $(DATASET)_*.pgm ~/Desktop/$(DATASET).pgm
+	./log2pgm.py $(DATASET) 0 $(RANDOM_SEED)
+	mv $(DATASET).pgm $(DATASET)_py.pgm
+	./log2pgm $(DATASET) 0 $(RANDOM_SEED)
+	mv $(DATASET).pgm $(DATASET)_cpp.pgm
+	$(VIEWER) $(DATASET)_*.pgm ~/Desktop/$(DATASET).pgm
+	./log2pgm.py $(DATASET) 1
+	mv $(DATASET).pgm $(DATASET)_py.pgm
+	./log2pgm $(DATASET) 1
+	mv $(DATASET).pgm $(DATASET)_cpp.pgm
+	$(VIEWER) $(DATASET)_*.pgm ~/Desktop/$(DATASET).pgm
+
+backup:
+	cp -r .. ~/Documents/slam/bak-breezyslam
+
+clean:
+	rm -f log2pgm *.pyc *.pgm *.o *~