mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 17:17:47 +08:00
43 lines
2.2 KiB
Bash
43 lines
2.2 KiB
Bash
|
#!/bin/bash
|
||
|
|
|
||
|
|
if [ $# -eq 0 ]
|
||
|
|
then
|
||
|
|
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)."
|
||
|
|
exit
|
||
|
|
fi
|
||
|
|
TYPE=$1
|
||
|
|
|
||
|
|
SKIP=0
|
||
|
|
if [ $# -eq 2 ]
|
||
|
|
then
|
||
|
|
SKIP=$2
|
||
|
|
fi
|
||
|
|
|
||
|
|
PREFIX="/home/mathieu/workspace/rtabmap_cv_latest/bin/"
|
||
|
|
REPROCESS_TOOL="${PREFIX}rtabmap-reprocess"
|
||
|
|
DETECT_MORE_LOOP_CLOSURE_TOOL="${PREFIX}rtabmap-detectMoreLoopClosures"
|
||
|
|
|
||
|
|
[ ! -d "$SKIP" ] && mkdir $SKIP
|
||
|
|
[ ! -d "$SKIP/$TYPE" ] && mkdir $SKIP/$TYPE
|
||
|
|
# 'map_190321-164651.db' 'map_190321-172717.db' 'map_190321-175428.db' 'map_190321-182709.db' 'map_190321-185608.db' 'map_190321-193556.db'
|
||
|
|
DATABASES=( 'map_190321-164651.db' 'map_190321-172717.db' 'map_190321-175428.db' 'map_190321-182709.db' 'map_190321-185608.db' 'map_190321-193556.db' )
|
||
|
|
|
||
|
|
PARAMS="--Kp/DetectorStrategy $TYPE --Vis/FeatureType $TYPE"
|
||
|
|
|
||
|
|
if [ $TYPE -eq 2 ] || [ $TYPE -eq 3 ] || [ $TYPE -eq 4 ] || [ $TYPE -eq 5 ] || [ $TYPE -eq 6 ] || [ $TYPE -eq 7 ] || [ $TYPE -eq 8 ] || [ $TYPE -eq 10 ] || [ $TYPE -eq 12 ]
|
||
|
|
then
|
||
|
|
# binary descriptors
|
||
|
|
PARAMS="--Vis/CorNNDR 0.8 $PARAMS"
|
||
|
|
else
|
||
|
|
# float descriptors
|
||
|
|
PARAMS="--Vis/CorNNDR 0.6 $PARAMS"
|
||
|
|
if
|
||
|
|
|
||
|
|
echo $PARAMS
|
||
|
|
for db in "${DATABASES[@]}"
|
||
|
|
do
|
||
|
|
$REPROCESS_TOOL --skip $SKIP --RGBD/MarkerDetection false --RGBD/ProximityBySpace true --RGBD/LocalRadius 1 --Mem/InitWMWithAllNodes true --Rtabmap/TimeThr 0 --Mem/UseOdomFeatures false --Optimizer/GravitySigma 0.1 --Mem/UseOdomGravity true --RGBD/OptimizeFromGraphEnd false --Mem/DepthAsMask false --RGBD/OptimizeMaxError 4 --RGBD/ProximityOdomGuess false --Vis/MaxFeatures 1000 --Kp/MaxFeatures 400 --Vis/EpipolarGeometryVar 0.1 --Vis/EstimationType 1 --Vis/MinInliers 20 --Rtabmap/MaxRetrieved 2 --Optimizer/Iterations 20 --Mem/CompressionParallelized true --Kp/Parallelized true --Kp/MaxDepth 0 --Kp/BadSignRatio 0.2 --BRIEF/Bytes 32 --Kp/ByteToFloat true --SURF/HessianThreshold 100 --SIFT/ContrastThreshold 0.02 --BRISK/Thresh 10 --SuperPoint/ModelPath superpoint.pt --Rtabmap/PublishRAMUsage true --ORB/EdgeThreshold 19 --ORB/ScaleFactor 2 --ORB/NLevels 3 --uerror $PARAMS $db $SKIP/$TYPE/$db
|
||
|
|
$DETECT_MORE_LOOP_CLOSURE_TOOL --uwarn $SKIP/$TYPE/$db
|
||
|
|
done
|
||
|
|
|