X-lanni
35 lines
1.5 KiB
Bash
Executable File
35 lines
1.5 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=$2
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MIN_INLIERS=20 #20 40 60 80
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source rtabmap_latest.bash
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DATABASES="$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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