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 +1,53 @@
+#!/bin/bash
+
+DATASET_FOLDER=""
+GT_FILE=""
+MEMORY_THR=300
+DETECTOR=0
+GPU=false
+if [ $# -ge 2 ] 
+then
+    DATASET_FOLDER=$1
+    GT_FILE=$2
+else
+echo "Usage: run_bow.sh \"dataset folder\" \"ground truth file\" [\"Rtabmap/MemoryThr=300\"] [\"Kp/DetectorStrategy=0\"] [\"GPU=false\"]"
+exit
+fi
+
+if [ $# -ge 3 ] 
+then
+    MEMORY_THR=$3
+fi
+if [ $# -ge 4 ] 
+then
+    DETECTOR=$4
+fi 
+if [ $# -ge 5 ] 
+then
+    GPU=$5
+fi 
+
+rtabmap-console \
+       -quiet \
+       --Rtabmap/StatisticLogged true\
+       --Rtabmap/StatisticLoggedHeaders false\
+       --Kp/DetectorStrategy $DETECTOR\
+       --SURF/HessianThreshold 150\
+       --Rtabmap/MemoryThr $MEMORY_THR\
+       --Rtabmap/LoopRatio 0.9\
+       --Mem/STMSize 30\
+       --Vis/MaxFeatures 400\
+       --Kp/TfIdfLikelihoodUsed false\
+       --Kp/MaxFeatures 400\
+       --Kp/BadSignRatio 0.25\
+       --Mem/BadSignaturesIgnored true\
+       --Mem/RehearsalSimilarity 0.20\
+       --Mem/RecentWmRatio 0.20\
+       --FAST/Gpu $GPU\
+       --GFTT/Gpu $GPU\
+       --ORB/Gpu $GPU\
+       --SIFT/Gpu $GPU\
+       --SURF/GpuVersion $GPU\
+       -gt "$GT_FILE"\
+       "$DATASET_FOLDER"
+