feat(slam): add rtabmap_ros
This commit is contained in:
X-lanni
@@ -0,0 +1,19 @@
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#!/bin/bash
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if [ $# -lt 1 ]
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then
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echo "No arguments supplied. It should be the data directory (where the reprocessed map databases are saved)."
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exit
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fi
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DATA=$1
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DETECTOR=(0 1 6 7 9 14 11 111)
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source rtabmap_latest.bash
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for d in "${DETECTOR[@]}"
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do
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rtabmap-report --export --export_prefix "Stat$d" --loc 32 Loop/Odom_correction_norm/m Loop/Visual_inliers/ Timing/Total/ms Timing/Proximity_by_space_visual/ms Timing/Likelihood_computation/ms Timing/Posterior_computation/ms TimingMem/Keypoints_detection/ms TimingMem/Descriptors_extraction/ms TimingMem/Add_new_words/ms Loop/Map_id/ Keypoint/Current_frame/words Memory/RAM_usage/MB Memory/RAM_estimated/MB Memory/Distance_travelled/m Loop/Distance_since_last_loc/ Memory/Local_graph_size/ Keypoint/Dictionary_size/words "$DATA/$d/loc"
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rtabmap-report --export --export_prefix "Consecutive$d" --loc 32 Loop/Map_id/ Loop/Distance_since_last_loc/ "$DATA/$d/consecutive_loc"
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done
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@@ -0,0 +1,41 @@
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#!/bin/bash
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if [ $# -lt 3 ]
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then
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echo "No arguments supplied. They should be 3: the detector number type (0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint), the input directory (original maps) and the output data directory (where reprocessed map databases will be saved)."
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exit
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fi
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TYPE=$1
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INPUT=$2
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OUTPUT=$3
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source rtabmap_latest.bash
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[ ! -d "$OUTPUT" ] && mkdir $OUTPUT
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[ ! -d "$OUTPUT/$TYPE" ] && mkdir $OUTPUT/$TYPE
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# 'map_190321-164651.db' 'map_190321-172717.db' 'map_190321-175428.db' 'map_190321-182709.db' 'map_190321-185608.db' 'map_190321-193556.db'
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DATABASES=( 'map_190321-164651.db' 'map_190321-172717.db' 'map_190321-175428.db' 'map_190321-182709.db' 'map_190321-185608.db' 'map_190321-193556.db' )
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PARAMS="--Kp/DetectorStrategy $TYPE --Vis/FeatureType $TYPE"
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if [ $TYPE -eq 2 ] || [ $TYPE -eq 3 ] || [ $TYPE -eq 4 ] || [ $TYPE -eq 5 ] || [ $TYPE -eq 6 ] || [ $TYPE -eq 7 ] || [ $TYPE -eq 8 ] || [ $TYPE -eq 10 ] || [ $TYPE -eq 12 ]
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then
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# binary descriptors
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PARAMS="--Vis/CorNNDR 0.8 $PARAMS"
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else
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# float descriptors
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PARAMS="--Vis/CorNNDR 0.6 $PARAMS"
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fi
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if [ $TYPE -eq 111 ]
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then
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PARAMS="--Vis/CorNNType 6 --SuperGlue/Path SuperGluePretrainedNetwork/rtabmap_superglue.py --Reg/RepeatOnce false --Vis/CorGuessWinSize 0 $PARAMS --Kp/DetectorStrategy 11 --Vis/FeatureType 11"
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fi
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echo $PARAMS
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for db in "${DATABASES[@]}"
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do
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rtabmap-reprocess --RGBD/MarkerDetection false --RGBD/ProximityBySpace true --RGBD/LocalRadius 1 --Mem/InitWMWithAllNodes true --Rtabmap/TimeThr 0 --Mem/UseOdomFeatures false --Optimizer/GravitySigma 0.1 --Mem/UseOdomGravity true --RGBD/OptimizeFromGraphEnd false --Mem/DepthAsMask false --RGBD/OptimizeMaxError 0 --RGBD/ProximityOdomGuess false --Vis/MaxFeatures 1000 --Kp/MaxFeatures 400 --Vis/EpipolarGeometryVar 0.1 --Vis/EstimationType 1 --Vis/MinInliers 20 --Rtabmap/MaxRetrieved 2 --Optimizer/Iterations 20 --Mem/CompressionParallelized true --Kp/Parallelized true --Kp/MaxDepth 0 --Kp/BadSignRatio 0.2 --BRIEF/Bytes 32 --Kp/ByteToFloat true --SURF/HessianThreshold 100 --SIFT/ContrastThreshold 0.02 --BRISK/Thresh 10 --SuperPoint/ModelPath superpoint_v1.pt --Rtabmap/PublishRAMUsage true --ORB/EdgeThreshold 19 --ORB/ScaleFactor 2 --ORB/NLevels 3 --Db/TargetVersion "" --Icp/CorrespondenceRatio 0.1 --RGBD/MaxOdomCacheSize 0 --uwarn $PARAMS $INPUT/$db $OUTPUT/$TYPE/$db
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rtabmap-detectMoreLoopClosures --uwarn $OUTPUT/$TYPE/$db
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done
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@@ -0,0 +1,18 @@
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#!/bin/bash
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if [ $# -lt 2 ]
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then
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echo "No arguments supplied. They should be 2: the input directory (original maps) and the output data directory (where reprocessed map databases will be saved)."
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exit
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fi
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INPUT=$1
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OUTPUT=$2
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DETECTOR=(0 1 6 7 9 14 11 111)
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for d in "${DETECTOR[@]}"
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do
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./reprocess_maps.sh $d $INPUT $OUTPUT
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./run_merge.sh $d $OUTPUT
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done
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@@ -0,0 +1,5 @@
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#!/bin/bash
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export PATH=~/workspace/rtabmap/build/bin:$PATH
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export LD_LIBRARY_PATH=~/workspace/rtabmap/build/lib:$LD_LIBRARY_PATH
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@@ -0,0 +1,14 @@
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#!/bin/bash
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if [ $# -lt 2 ]
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then
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echo "No arguments supplied. They should be 2: the input directory (original maps) and the output data directory (where reprocessed map databases will be saved)."
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exit
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fi
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INPUT=$1
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OUTPUT=$2
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./reprocess_maps_all.sh $INPUT $OUTPUT
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./run_localization_single_all.sh $INPUT $OUTPUT
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./run_consecutive_localization_all.sh $OUTPUT
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+25
@@ -0,0 +1,25 @@
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#!/bin/bash
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if [ $# -lt 2 ]
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then
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echo "No arguments supplied. It should be the detector number type (0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint) and the data directory (where map databases have been reprocessed)."
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exit
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fi
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TYPE=$1
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DATA=$2
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source rtabmap_latest.bash
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SOURCE=('map_190321-164651.db' 'map_190321-172717.db' 'map_190321-175428.db' 'map_190321-182709.db' 'map_190321-185608.db')
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TARGETS=($DATA/$TYPE'/map_190321-172717.db;'$DATA/$TYPE'/map_190321-175428.db;'$DATA/$TYPE'/map_190321-193556.db' $DATA/$TYPE'/map_190321-175428.db;'$DATA/$TYPE'/map_190321-182709.db;' $DATA/$TYPE'/map_190321-182709.db;'$DATA/$TYPE'/map_190321-185608.db' $DATA/$TYPE'/map_190321-185608.db;'$DATA/$TYPE'/map_190321-193556.db' $DATA/$TYPE'/map_190321-193556.db' )
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[ ! -d "$DATA/$TYPE/consecutive_loc" ] && mkdir $DATA/$TYPE/consecutive_loc
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for i in ${!SOURCE[@]}
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do
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db=${SOURCE[$i]}
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loc_dbs=${TARGETS[$i]}
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rtabmap-reprocess --Mem/IncrementalMemory false --RGBD/ProximityBySpace true --RGBD/ProximityMaxPaths 1 --Mem/LocalizationDataSaved true --Mem/BinDataKept false --RGBD/SavedLocalizationIgnored true --Kp/IncrementalFlann false --Vis/MinInliers 20 --Rtabmap/PublishRAMUsage true --RGBD/ProximityOdomGuess false --uwarn "$DATA/$TYPE/$db;$loc_dbs" $DATA/$TYPE/consecutive_loc/loc_$db
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done
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+16
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#!/bin/bash
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if [ $# -lt 1 ]
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then
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echo "No arguments supplied. It should be the data directory (where the reprocessed map databases will be saved)."
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exit
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fi
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DATA=$1
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DETECTOR=(0 1 6 7 9 14 11 111)
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for d in "${DETECTOR[@]}"
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do
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./run_consecutive_localization.sh $d $DATA
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done
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+33
@@ -0,0 +1,33 @@
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#!/bin/bash
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if [ $# -lt 3 ]
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then
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echo "No arguments supplied. They should be 3: the detector number type (0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint), the input directory (original maps) and the output data directory (where reprocessed map databases will be saved)."
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exit
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fi
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TYPE=$1
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INPUT=$2
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OUTPUT=$3
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source rtabmap_latest.bash
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# loc_190321-165128.db;loc_190321-173134.db;loc_190321-175823.db;loc_190321-183051.db;loc_190321-185950.db;loc_190321-194226.db
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LOCALIZATION_DATABASES="$INPUT/loc_190321-165128.db;$INPUT/loc_190321-173134.db;$INPUT/loc_190321-175823.db;$INPUT/loc_190321-183051.db;$INPUT/loc_190321-185950.db;$INPUT/loc_190321-194226.db"
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[ ! -d "$OUTPUT/$TYPE/loc" ] && mkdir $OUTPUT/$TYPE/accuracy
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db=merged_123456.db
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rtabmap-reprocess --Mem/IncrementalMemory false --RGBD/ProximityBySpace true --Mem/LocalizationDataSaved true --Mem/BinDataKept false --RGBD/SavedLocalizationIgnored true --Kp/IncrementalFlann false --Vis/MinInliers 20 --Rtabmap/PublishRAMUsage true --RGBD/ProximityOdomGuess false --Reg/RepeatOnce true --Vis/BundleAdjustment 1 --uwarn "$OUTPUT/$TYPE/$db;$LOCALIZATION_DATABASES" $OUTPUT/$TYPE/accuracy/ProxOff_DoubleRegOn_BaOn_$db
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rtabmap-reprocess --Mem/IncrementalMemory false --RGBD/ProximityBySpace true --Mem/LocalizationDataSaved true --Mem/BinDataKept false --RGBD/SavedLocalizationIgnored true --Kp/IncrementalFlann false --Vis/MinInliers 20 --Rtabmap/PublishRAMUsage true --RGBD/ProximityOdomGuess false --Reg/RepeatOnce false --Vis/BundleAdjustment 1 --uwarn "$OUTPUT/$TYPE/$db;$LOCALIZATION_DATABASES" $OUTPUT/$TYPE/accuracy/ProxOff_DoubleRegOff_BaOn_$db
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rtabmap-reprocess --Mem/IncrementalMemory false --RGBD/ProximityBySpace true --Mem/LocalizationDataSaved true --Mem/BinDataKept false --RGBD/SavedLocalizationIgnored true --Kp/IncrementalFlann false --Vis/MinInliers 20 --Rtabmap/PublishRAMUsage true --RGBD/ProximityOdomGuess false --Reg/RepeatOnce true --Vis/BundleAdjustment 0 --uwarn "$OUTPUT/$TYPE/$db;$LOCALIZATION_DATABASES" $OUTPUT/$TYPE/accuracy/ProxOff_DoubleRegOn_BaOff_$db
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rtabmap-reprocess --Mem/IncrementalMemory false --RGBD/ProximityBySpace true --Mem/LocalizationDataSaved true --Mem/BinDataKept false --RGBD/SavedLocalizationIgnored true --Kp/IncrementalFlann false --Vis/MinInliers 20 --Rtabmap/PublishRAMUsage true --RGBD/ProximityOdomGuess false --Reg/RepeatOnce false --Vis/BundleAdjustment 0 --uwarn "$OUTPUT/$TYPE/$db;$LOCALIZATION_DATABASES" $OUTPUT/$TYPE/accuracy/ProxOff_DoubleRegOff_BaOff_$db
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rtabmap-reprocess --Mem/IncrementalMemory false --RGBD/ProximityBySpace true --Mem/LocalizationDataSaved true --Mem/BinDataKept false --RGBD/SavedLocalizationIgnored true --Kp/IncrementalFlann false --Vis/MinInliers 20 --Rtabmap/PublishRAMUsage true --RGBD/ProximityOdomGuess true --Reg/RepeatOnce true --Vis/BundleAdjustment 1 --uwarn "$OUTPUT/$TYPE/$db;$LOCALIZATION_DATABASES" $OUTPUT/$TYPE/accuracy/ProxOn_DoubleRegOn_BaOn_$db
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rtabmap-reprocess --Mem/IncrementalMemory false --RGBD/ProximityBySpace true --Mem/LocalizationDataSaved true --Mem/BinDataKept false --RGBD/SavedLocalizationIgnored true --Kp/IncrementalFlann false --Vis/MinInliers 20 --Rtabmap/PublishRAMUsage true --RGBD/ProximityOdomGuess true --Reg/RepeatOnce true --Vis/BundleAdjustment 0 --uwarn "$OUTPUT/$TYPE/$db;$LOCALIZATION_DATABASES" $OUTPUT/$TYPE/accuracy/ProxOn_DoubleRegOn_BaOff_$db
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+28
@@ -0,0 +1,28 @@
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#!/bin/bash
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if [ $# -lt 3 ]
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then
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echo "No arguments supplied. They should be 3: the detector number type (0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint), the input directory (original maps) and the output data directory (where reprocessed map databases will be saved)."
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exit
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fi
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TYPE=$1
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INPUT=$2
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OUTPUT=$3
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source rtabmap_latest.bash
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# 'map_190321-164651.db' 'map_190321-172717.db' 'map_190321-175428.db' 'map_190321-182709.db' 'map_190321-185608.db' 'map_190321-193556.db' 'merged_123456.db' 'merged_135.db' 'merged_246.db' 'merged_16.db' 'merged_123456_reduced.db'
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DATABASES=('map_190321-164651.db' 'map_190321-172717.db' 'map_190321-175428.db' 'map_190321-182709.db' 'map_190321-185608.db' 'map_190321-193556.db' 'merged_123456.db' 'merged_135.db' 'merged_246.db' 'merged_16.db' 'merged_123456_reduced.db')
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# loc_190321-165128.db;loc_190321-173134.db;loc_190321-175823.db;loc_190321-183051.db;loc_190321-185950.db;loc_190321-194226.db
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LOCALIZATION_DATABASES="$INPUT/loc_190321-165128.db;$INPUT/loc_190321-173134.db;$INPUT/loc_190321-175823.db;$INPUT/loc_190321-183051.db;$INPUT/loc_190321-185950.db;$INPUT/loc_190321-194226.db"
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[ ! -d "$OUTPUT/$TYPE/loc" ] && mkdir $OUTPUT/$TYPE/loc
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echo $PARAMS
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for db in "${DATABASES[@]}"
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do
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rtabmap-reprocess -loc_null --Mem/IncrementalMemory false --RGBD/ProximityBySpace true --RGBD/ProximityMaxPaths 1 --Mem/LocalizationDataSaved true --Mem/BinDataKept false --RGBD/SavedLocalizationIgnored true --Kp/IncrementalFlann false --Vis/MinInliers 20 --Rtabmap/PublishRAMUsage true --RGBD/ProximityOdomGuess false --uwarn "$OUTPUT/$TYPE/$db;$LOCALIZATION_DATABASES" $OUTPUT/$TYPE/loc/loc_$db
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done
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+17
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#!/bin/bash
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if [ $# -lt 2 ]
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then
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echo "No arguments supplied. They should be 2: the input directory (original maps) and the output data directory (where reprocessed map databases will be saved)."
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exit
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fi
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INPUT=$1
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OUTPUT=$2
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DETECTOR=(0 1 6 7 9 14 11 111)
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for d in "${DETECTOR[@]}"
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do
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./run_localization_single.sh $d $INPUT $OUTPUT
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done
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@@ -0,0 +1,34 @@
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#!/bin/bash
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if [ $# -lt 2 ]
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then
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echo "No arguments supplied. It should be the detector number type (0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint) and the data directory (where map databases have been reprocessed)."
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exit
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fi
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TYPE=$1
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DATA=$2
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MIN_INLIERS=20 #20 40 60 80
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source rtabmap_latest.bash
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DATABASES="$DATA/$TYPE/map_190321-164651.db;$DATA/$TYPE/map_190321-172717.db;$DATA/$TYPE/map_190321-175428.db;$DATA/$TYPE/map_190321-182709.db;$DATA/$TYPE/map_190321-185608.db;$DATA/$TYPE/map_190321-193556.db"
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# To compute "Ground truth"
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rtabmap-reprocess --uwarn "$DATABASES" $DATA/$TYPE/merged_123456.db
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cp $DATA/$TYPE/merged_123456.db $DATA/$TYPE/merged_123456_gt.db
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rtabmap-detectMoreLoopClosures -r 0.5 -i 5 $DATA/$TYPE/merged_123456_gt.db
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rtabmap-reprocess --uwarn -gt $DATA/$TYPE/merged_123456_gt.db $DATA/$TYPE/merged_123456.db
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rtabmap-reprocess --uwarn "$DATA/$TYPE/map_190321-164651.db;$DATA/$TYPE/map_190321-193556.db" $DATA/$TYPE/merged_16.db
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rtabmap-reprocess --uwarn "$DATA/$TYPE/map_190321-164651.db;$DATA/$TYPE/map_190321-175428.db;$DATA/$TYPE/map_190321-185608.db" $DATA/$TYPE/merged_135.db
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rtabmap-reprocess --uwarn "$DATA/$TYPE/map_190321-172717.db;$DATA/$TYPE/map_190321-182709.db;$DATA/$TYPE/map_190321-193556.db" $DATA/$TYPE/merged_246.db
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# Reduced graph
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rtabmap-reprocess --uwarn -gt --Mem/ReduceGraph true --Vis/MinInliers $MIN_INLIERS $DATA/$TYPE/merged_123456_gt.db $DATA/$TYPE/merged_123456_reduced.db
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@@ -0,0 +1,9 @@
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import torch
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import torchvision
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from demo_superpoint import SuperPointNet
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model = SuperPointNet()
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model.load_state_dict(torch.load("superpoint_v1.pth"))
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model.eval()
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example = torch.rand(1, 1, 640, 480)
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traced_script_module = torch.jit.trace(model, example)
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traced_script_module.save("superpoint_v1.pt")
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@@ -0,0 +1,20 @@
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#!/bin/bash
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if [ $# -lt 2 ]
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then
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echo "No arguments supplied. They should be 2: the input directory (original maps) and the output data directory (where reprocessed map databases will be saved)."
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exit
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fi
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INPUT=$1
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OUTPUT=$2
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DETECTOR=(0 1 6 7 9 14 11 111)
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source rtabmap_latest.bash
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for d in "${DETECTOR[@]}"
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do
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valgrind --tool=massif --time-unit=ms --detailed-freq=1 --max-snapshots=100 rtabmap-reprocess --Mem/IncrementalMemory false --Kp/IncrementalFlann false "${OUTPUT}/${d}/map_190321-164651.db;${INPUT}/loc_190321-165128.db" output.db
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rm output.db
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done
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