mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 17:17:47 +08:00
33 lines
1.6 KiB
Bash
33 lines
1.6 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"
|
||
|
|
|
||
|
|
# 'map_190321-164651.db' 'map_190321-172717.db' 'map_190321-175428.db' 'map_190321-182709.db' 'map_190321-185608.db' 'map_190321-193556.db' 'merged_9999.db' 'merged_135.db' 'merged_246.db' 'merged_16.db' 'merged_9999_reduced.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' 'merged_9999.db' 'merged_135.db' 'merged_246.db' 'merged_16.db' )
|
||
|
|
# loc_190321-165128.db;loc_190321-173134.db;loc_190321-175823.db;loc_190321-183051.db;loc_190321-185950.db;loc_190321-194226.db
|
||
|
|
LOCALIZATION_DATABASES="loc_190321-165128.db;loc_190321-173134.db;loc_190321-175823.db;loc_190321-183051.db;loc_190321-185950.db;loc_190321-194226.db"
|
||
|
|
|
||
|
|
[ ! -d "$SKIP/$TYPE/loc" ] && mkdir $SKIP/$TYPE/loc
|
||
|
|
|
||
|
|
echo $PARAMS
|
||
|
|
for db in "${DATABASES[@]}"
|
||
|
|
do
|
||
|
|
$REPROCESS_TOOL --skip $SKIP --Mem/IncrementalMemory false --RGBD/ProximityBySpace true --Mem/LocalizationDataSaved true --Mem/BinDataKept false --RGBD/SavedLocalizationIgnored true --Kp/IncrementalFlann false --Vis/MinInliers 20 --Rtabmap/PublishRAMUsage true --RGBD/ProximityOdomGuess false --uwarn "$SKIP/$TYPE/$db;$LOCALIZATION_DATABASES" $SKIP/$TYPE/loc/loc_$db
|
||
|
|
done
|
||
|
|
|
||
|
|
|