X-lanni
145 lines
4.1 KiB
Bash
Executable File
145 lines
4.1 KiB
Bash
Executable File
#!/bin/bash
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PWD=$(pwd)
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DOCKER=1 # set to 0 to use host rtabmap tool and relative datasets to this script
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KITTI_ROOT_PATH='./datasets/kitti'
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KITTI_RESULTS_PATH='./results/kitti'
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mkdir -p $KITTI_RESULTS_PATH
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if [ $DOCKER -eq 1 ]
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then
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KITTI_ROOT_PATH='/root/datasets/kitti'
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KITTI_RESULTS_PATH='/root/results/kitti'
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fi
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LIST=('00' '01' '02' '03' '04' '05' '06' '07' '08' '09' '10')
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#LIST=('11' '12' '13' '14' '15' '16' '17' '18' '19' '20' '21')
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STRATEGY=0
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REG=0
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OUTPUT="test"
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if [ $# -eq 4 ]
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then
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OUTPUT=$1
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STRATEGY=$2
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REG=$3
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LIST=($4)
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elif [ $# -eq 3 ]
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then
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OUTPUT=$1
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STRATEGY=$2
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REG=$3
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else
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echo "Usage: run_kitti_datasets.sh \"output name\" \"odom strategy: 0=f2m 1=f2f 11=f2f_optflow 2=fovis 3=viso2 4=dvo 5=orbslam2 7=LOAM 9=VINS\" \"reg strategy: 0=vis 1=icp-point2point 11=icp-point2plane\" [sequence]"
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exit
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fi
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F2F_params=""
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if [ $STRATEGY -eq 11 ]
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then
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STRATEGY=1
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F2F_params="--Vis/CorType 1"
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fi
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if [ $STRATEGY -eq 1 ]
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then
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F2F_params="--Odom/KeyFrameThr 0.6 $F2F_params"
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fi
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if [ $STRATEGY -eq 3 ]
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then
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F2F_params=" $F2F_params"
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fi
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if [ $STRATEGY -eq 9 ]
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then
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F2F_params="--OdomVINS/ConfigPath ./kitti_config04-12.yaml $F2F_params"
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fi
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SCAN=""
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if [[ $REG -eq 1 || $REG -eq 11 ]]
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then
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if [ $REG -eq 11 ]
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then
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REG=1
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if [ $STRATEGY -eq 7 ]
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then
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SCAN="--Mem/LaserScanVoxelSize 0.5 --Mem/LaserScanNormalK 10 --scan_voxel 0.0"
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else
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SCAN="--scan_k 10 --scan_voxel 0.5"
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fi
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SCAN="--Icp/PointToPlane true --Icp/PointToPlaneK 10 --Icp/PointToPlaneRadius 0 --Icp/Iterations 5 --Odom/ScanKeyFrameThr 0.6 $SCAN"
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else
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if [ $STRATEGY -eq 7 ]
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then
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SCAN="--Mem/LaserScanVoxelSize 0.5 --scan_voxel 0.0"
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else
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SCAN="--scan_voxel 0.5"
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fi
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SCAN="--Icp/PointToPlane false --Icp/Iterations 10 --Odom/ScanKeyFrameThr 0.8 $SCAN"
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fi
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SCAN="--scan --Reg/Strategy $REG --OdomF2M/ScanMaxSize 10000 --OdomF2M/ScanSubtractRadius 0.5 --Odom/LOAMSensor 2 --Icp/MaxTranslation 2 --Icp/Epsilon 0.0001 --Icp/MaxCorrespondenceDistance 1.5 --Icp/CorrespondenceRatio 0.01 --Icp/PM true --Icp/PMOutlierRatio 0.7 --Icp/PMMatcherKnn 3 --Icp/PMMatcherEpsilon 1 --Icp/ReciprocalCorrespondences false $SCAN"
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fi
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RTABMAP_KITTI_TOOL="rtabmap-kitti_dataset"
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if [ $DOCKER -eq 1 ]
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then
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# Select rtabmap built with os2 support or not
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TOOL_PREFIX="/usr/local/bin"
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if [ $STRATEGY -eq 5 ]
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then
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TOOL_PREFIX="/root/rtabmap_os2/bin"
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elif [ $STRATEGY -eq 7 ]
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then
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TOOL_PREFIX="/root/rtabmap_loam/bin"
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fi
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RTABMAP_KITTI_TOOL="docker run -v $PWD/datasets/kitti:$KITTI_ROOT_PATH -v $PWD/results/kitti:$KITTI_RESULTS_PATH -i -t --rm introlab3it/rtabmap:jfr2018 $TOOL_PREFIX/rtabmap-kitti_dataset"
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fi
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echo $RTABMAP_KITTI_TOOL
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for d in "${LIST[@]}"
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do
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taskset 0x1 $RTABMAP_KITTI_TOOL \
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--Rtabmap/PublishRAMUsage true\
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--Vis/MaxFeatures 1500\
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--RGBD/LinearUpdate 0\
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--RGBD/AngularUpdate 0\
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--RGBD/ProximityBySpace false\
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--Rtabmap/DetectionRate 2\
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--Kp/MaxFeatures 750\
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--Kp/FlannRebalancingFactor 1.0\
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--GFTT/QualityLevel 0.01\
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--GFTT/MinDistance 7\
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--OdomF2M/MaxSize 3000\
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--Rtabmap/CreateIntermediateNodes true\
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--Odom/Strategy $STRATEGY\
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$F2F_params \
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--OdomORBSLAM2/VocPath /root/ORBvoc.txt\
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--OdomORBSLAM2/ThDepth 40\
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--OdomORBSLAM2/Fps 10\
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--OdomORBSLAM2/MaxFeatures 2000\
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--OdomViso2/MatchNmsN 7\
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--OdomViso2/MatchRadius 300\
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--FAST/Threshold 12\
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--Mem/STMSize 30\
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--Mem/UseOdomFeatures false \
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--Mem/BinDataKept false \
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--Vis/CorNNDR 0.6 \
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--Vis/CorGuessWinSize 20 \
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$SCAN \
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--gt $KITTI_ROOT_PATH"/devkit/cpp/data/odometry/poses/$d.txt"\
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--output "$KITTI_RESULTS_PATH/$d"\
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--output_name $OUTPUT\
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--quiet\
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$KITTI_ROOT_PATH/dataset/sequences/$d
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done
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# ORB_SLAM2:
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# 0-2: --OdomORBSLAM2/ThDepth 35
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# 3-12: --OdomORBSLAM2/ThDepth 40 (default)
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# 0-3: --FAST/Threshold 20 (default)
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# 4-12: --FAST/Threshold 12 --OdomORBSLAM2/ThDepth 40
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# --OdomORBSLAM2/MaxFeatures 2000
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#
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