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 +1,101 @@
+#!/bin/bash
+
+PWD=$(pwd)
+DOCKER=1 # set to 0 to use host rtabmap tool and relative datasets to this script
+
+RGBD_ROOT_PATH='./datasets/tum'
+RGBD_RESULTS_PATH='./results/tum'
+mkdir -p $RGBD_RESULTS_PATH
+if [ $DOCKER -eq 1 ]
+then
+    RGBD_ROOT_PATH='/root/datasets/tum'
+RGBD_RESULTS_PATH='/root/results/tum'
+fi
+
+LIST=( 'rgbd_dataset_freiburg1_desk' 'rgbd_dataset_freiburg1_desk2' 'rgbd_dataset_freiburg1_room' 'rgbd_dataset_freiburg2_desk' 'rgbd_dataset_freiburg2_xyz' 'rgbd_dataset_freiburg3_long_office_household' 'rgbd_dataset_freiburg3_nostructure_texture_near_withloop_validation')
+# more: 'rgbd_dataset_freiburg1_360' 'rgbd_dataset_freiburg1_plant' 'rgbd_dataset_freiburg1_rpy' 'rgbd_dataset_freiburg1_teddy' 'rgbd_dataset_freiburg2_360_hemisphere' 'rgbd_dataset_freiburg2_large_no_loop' 'rgbd_dataset_freiburg2_large_with_loop' 'rgbd_dataset_freiburg1_floor'
+# Got Lost: 'rgbd_dataset_freiburg1_floor' (at 11 seconds end), 'rgbd_dataset_freiburg3_teddy'
+
+STRATEGY=0
+OUTPUT="test"
+if [ $# -eq 3 ] 
+then
+    OUTPUT=$1
+    STRATEGY=$2
+    LIST=($3)
+elif [ $# -eq 2 ] 
+then
+    OUTPUT=$1
+    STRATEGY=$2
+else
+echo "Usage: run_tum_datasets.sh \"output name\" \"odom strategy: 0=f2m 1=f2f 11=f2f_optflow 2=fovis 3=viso2 4=dvo 5=orbslam2\" [sequence]"
+exit
+fi
+
+F2F_params=""
+if [ $STRATEGY -eq 11 ]
+then
+    STRATEGY=1
+    F2F_params="--Vis/CorType 1"
+fi
+
+if [ $STRATEGY -eq 1 ]
+then
+    F2F_params="--Odom/KeyFrameThr 0.6 $F2F_params"
+fi
+
+if [[ $STRATEGY -eq 2 || $STRATEGY -eq 4 ]]
+then
+    F2F_params="--RGBD/OptimizeMaxError 0 $F2F_params"
+fi
+
+RTABMAP_RGBD_TOOL="rtabmap-rgbd_dataset"
+if [ $DOCKER -eq 1 ]
+then
+    # Select rtabmap built with os2 support or not
+    TOOL_PREFIX="/usr/local/bin"
+    if [ $STRATEGY -eq 5 ]
+    then
+        TOOL_PREFIX="/root/rtabmap_os2/bin"
+    fi
+    RTABMAP_RGBD_TOOL="docker run -v $PWD/datasets/tum:$RGBD_ROOT_PATH -v $PWD/results/tum:$RGBD_RESULTS_PATH -i -t --rm introlab3it/rtabmap:jfr2018 $TOOL_PREFIX/rtabmap-rgbd_dataset"
+fi
+echo $RTABMAP_RGBD_TOOL
+
+# no --disp with 01?
+for d in "${LIST[@]}"
+do
+
+    DETECTION_RATE=2
+    if [[ "$d" == "rgbd_dataset_freiburg1_desk" || "$d" == "rgbd_dataset_freiburg1_desk2" ]]
+    then
+        DETECTION_RATE=4
+    fi
+
+    taskset 0x1 $RTABMAP_RGBD_TOOL \
+       --Rtabmap/PublishRAMUsage true\
+       --RGBD/LinearUpdate 0\
+       --RGBD/AngularUpdate 0\
+       --Rtabmap/DetectionRate $DETECTION_RATE\
+       --Kp/FlannRebalancingFactor 1.0\
+       --GFTT/MinDistance 3\
+       --Odom/Strategy $STRATEGY\
+       --Mem/STMSize 30\
+       --Mem/UseOdomFeatures false \
+       --Mem/BinDataKept true \
+       --Rtabmap/CreateIntermediateNodes false\
+       --Vis/CorNNDR 0.6 \
+       --Vis/CorGuessWinSize 20 \
+       $F2F_params\
+       --OdomORBSLAM2/VocPath /root/ORBvoc.txt\
+       --OdomFovis/MinFeaturesForEstimate 10\
+       --output "$RGBD_RESULTS_PATH/$d"\
+       --output_name $OUTPUT\
+       --quiet\
+       $RGBD_ROOT_PATH/$d
+done
+
+
+#--Odom/Strategy 1\
+#--Vis/CorType 1\
+