feat(slam): add rtabmap_ros

2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
@@ -0,0 +1,37 @@
+#!/bin/bash
+
+DATASET_FOLDER=""
+GT_FILE=""
+MEMORY_THR=0
+if [ $# -ge 2 ] 
+then
+    DATASET_FOLDER=$1
+    GT_FILE=$2
+else
+echo "Usage: run_all_detectors.sh \"dataset folder\" \"ground truth file\" [\"Rtabmap/MemoryThr=0\"]"
+exit
+fi
+
+if [ $# -ge 3 ] 
+then
+    MEMORY_THR=$3
+fi
+
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
+
+$SCRIPT_DIR/run_bow.sh $DATASET_FOLDER $GT_FILE $MEMORY_THR 0 false
+mv LogF.txt $DATASET_FOLDER/SurfLogF.txt
+mv LogI.txt $DATASET_FOLDER/SurfLogI.txt
+$SCRIPT_DIR/run_bow.sh $DATASET_FOLDER $GT_FILE $MEMORY_THR 1 false
+mv LogF.txt $DATASET_FOLDER/SiftLogF.txt
+mv LogI.txt $DATASET_FOLDER/SiftLogI.txt
+$SCRIPT_DIR/run_bow.sh $DATASET_FOLDER $GT_FILE $MEMORY_THR 1 true
+mv LogF.txt $DATASET_FOLDER/CudaSiftLogF.txt
+mv LogI.txt $DATASET_FOLDER/CudaSiftLogI.txt
+$SCRIPT_DIR/run_bow.sh $DATASET_FOLDER $GT_FILE $MEMORY_THR 6 false
+mv LogF.txt $DATASET_FOLDER/GfttBriefLogF.txt
+mv LogI.txt $DATASET_FOLDER/GfttBriefLogI.txt
+#$SCRIPT_DIR/run_bow.sh $DATASET_FOLDER $GT_FILE $MEMORY_THR 11 false
+#mv LogF.txt $DATASET_FOLDER/SuperPointLogF.txt
+#mv LogI.txt $DATASET_FOLDER/SuperPointLogI.txt
+