X-lanni
26 lines
1.1 KiB
Markdown
26 lines
1.1 KiB
Markdown
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To reproduce results (based on parameters of this [paper](https://www.arxiv.org/abs/2407.15304)):
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```
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rtabmap-console \
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--Rtabmap/StatisticLogged true\
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--Rtabmap/StatisticLoggedHeaders false\
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--Kp/DetectorStrategy 0\
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--Rtabmap/MemoryThr 300\
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--Rtabmap/LoopRatio 0.9\
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--SURF/HessianThreshold 150\
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--Mem/STMSize 30\
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--Vis/MaxFeatures 400\
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--Kp/TfIdfLikelihoodUsed false\
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--Kp/MaxFeatures 400\
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--Kp/BadSignRatio 0.25\
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--Mem/BadSignaturesIgnored true\
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--Mem/RehearsalSimilarity 0.20\
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--Mem/RecentWmRatio 0.2\
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-gt "~/Downloads/UdeS_1Hz.png"\
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~/Downloads/UdeS_1Hz
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```
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Adding the ground truth file here is optional to show recall at 100% precision at the end of the process directly without using the octave/MATLAB script below. For NewCollege and CityCentre datasets, `rtabmap-imagesJoiner` can be used to assemble the left and right images together.
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To analyze with Octave/MATLAB, drop `LogF.txt` and `LogI.txt` generated files from command above in ShowLogs directly, then execute `showLogs.m`.
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