X-lanni
26 lines
1.4 KiB
Bash
Executable File
26 lines
1.4 KiB
Bash
Executable File
#!/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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