X-lanni
102 lines
2.9 KiB
Bash
Executable File
102 lines
2.9 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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RGBD_ROOT_PATH='./datasets/tum'
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RGBD_RESULTS_PATH='./results/tum'
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mkdir -p $RGBD_RESULTS_PATH
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if [ $DOCKER -eq 1 ]
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then
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RGBD_ROOT_PATH='/root/datasets/tum'
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RGBD_RESULTS_PATH='/root/results/tum'
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fi
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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')
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# 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'
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# Got Lost: 'rgbd_dataset_freiburg1_floor' (at 11 seconds end), 'rgbd_dataset_freiburg3_teddy'
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STRATEGY=0
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OUTPUT="test"
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if [ $# -eq 3 ]
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then
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OUTPUT=$1
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STRATEGY=$2
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LIST=($3)
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elif [ $# -eq 2 ]
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then
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OUTPUT=$1
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STRATEGY=$2
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else
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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]"
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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 2 || $STRATEGY -eq 4 ]]
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then
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F2F_params="--RGBD/OptimizeMaxError 0 $F2F_params"
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fi
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RTABMAP_RGBD_TOOL="rtabmap-rgbd_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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fi
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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"
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fi
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echo $RTABMAP_RGBD_TOOL
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# no --disp with 01?
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for d in "${LIST[@]}"
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do
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DETECTION_RATE=2
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if [[ "$d" == "rgbd_dataset_freiburg1_desk" || "$d" == "rgbd_dataset_freiburg1_desk2" ]]
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then
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DETECTION_RATE=4
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fi
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taskset 0x1 $RTABMAP_RGBD_TOOL \
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--Rtabmap/PublishRAMUsage true\
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--RGBD/LinearUpdate 0\
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--RGBD/AngularUpdate 0\
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--Rtabmap/DetectionRate $DETECTION_RATE\
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--Kp/FlannRebalancingFactor 1.0\
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--GFTT/MinDistance 3\
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--Odom/Strategy $STRATEGY\
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--Mem/STMSize 30\
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--Mem/UseOdomFeatures false \
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--Mem/BinDataKept true \
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--Rtabmap/CreateIntermediateNodes false\
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--Vis/CorNNDR 0.6 \
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--Vis/CorGuessWinSize 20 \
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$F2F_params\
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--OdomORBSLAM2/VocPath /root/ORBvoc.txt\
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--OdomFovis/MinFeaturesForEstimate 10\
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--output "$RGBD_RESULTS_PATH/$d"\
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--output_name $OUTPUT\
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--quiet\
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$RGBD_ROOT_PATH/$d
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done
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#--Odom/Strategy 1\
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#--Vis/CorType 1\
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