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Docker: added new "latest" version of jfr2018 image (including VINS and latest rtabmap version). Updated jfr2018 scripts to easily switch to host installed rtabmap instead of docker

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matlabbe
2019-03-20 19:36:56 -04:00
parent 24a4d91ee8
commit 3cafdf911b
7 changed files with 338 additions and 42 deletions
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63
docker/jfr2018/run_euroc_datasets.sh
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@@ -1,8 +1,16 @@
#!/bin/bash
PWD=$(pwd)
DATASET_ROOT_PATH='/root/datasets/euroc'
EUROC_RESULTS_PATH='/root/results/euroc'
DOCKER=1 # set to 0 to use host rtabmap tool and relative datasets to this script
DATASET_ROOT_PATH='./datasets/euroc'
EUROC_RESULTS_PATH='./results/euroc'
mkdir -p $EUROC_RESULTS_PATH
if [ $DOCKER -eq 1 ]
then
DATASET_ROOT_PATH='/root/datasets/euroc'
EUROC_RESULTS_PATH='/root/results/euroc'
fi
LIST=( 'V1_01_easy' 'V1_02_medium' 'V1_03_difficult' 'V2_01_easy' 'V2_02_medium' 'V2_03_difficult' 'MH_01_easy' 'MH_02_easy' 'MH_03_medium' 'MH_04_difficult' 'MH_05_difficult')
@@ -47,7 +55,7 @@ fi
if [ $STRATEGY -eq 66 ] # okvis raw images
then
STRATEGY=6
F2F_params="--raw $F2F_params"
F2F_params="--raw --Odom/GuessMotion false --OdomOKVIS/ConfigPath ./config_fpga_p2_euroc.yaml $F2F_params"
fi
if [ $STRATEGY -eq 6 ] # okvis
then
@@ -57,27 +65,51 @@ fi
if [ $STRATEGY -eq 88 ] # msckf_vio raw images
then
STRATEGY=8
F2F_params="--raw $F2F_params"
F2F_params="--raw --Odom/GuessMotion false $F2F_params"
fi
if [ $STRATEGY -eq 8 ] # msckf_vio
then
F2F_params="--Odom/GuessMotion false $F2F_params"
fi
# Select rtabmap built with os2 support or not
TOOL_PREFIX="/usr/local/bin"
if [ $STRATEGY -eq 5 ]
if [ $STRATEGY -eq 99 ] # vins raw images
then
TOOL_PREFIX="/root/rtabmap_os2/bin"
elif [ $STRATEGY -eq 8 ]
then
TOOL_PREFIX="/root/rtabmap_msckf/bin"
STRATEGY=9
F2F_params="--raw --Odom/GuessMotion false --OdomVINS/ConfigPath ./euroc_stereo_imu_config.yaml $F2F_params"
fi
RTABMAP_RGBD_TOOL="docker run -v $PWD/datasets/euroc:$DATASET_ROOT_PATH -v $PWD/results/euroc:$EUROC_RESULTS_PATH -i -t --rm introlab3it/rtabmap:jfr2018 $TOOL_PREFIX/rtabmap-euroc_dataset"
if [ $STRATEGY -eq 6 ]
if [ $STRATEGY -eq 9 ] # vins
then
xhost +
RTABMAP_RGBD_TOOL="docker run -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v $PWD/datasets/euroc:$DATASET_ROOT_PATH -v $PWD/results/euroc:$EUROC_RESULTS_PATH -i -t --rm introlab3it/rtabmap:jfr2018 $TOOL_PREFIX/rtabmap-euroc_dataset"
F2F_params="--Odom/GuessMotion false --OdomVINS/ConfigPath ./euroc_stereo_imu_config.yaml $F2F_params"
fi
if [ $STRATEGY -eq 100 ] # vins (stereo-only) raw images
then
STRATEGY=9
F2F_params="--raw --Odom/GuessMotion false --OdomVINS/ConfigPath ./euroc_stereo_config.yaml $F2F_params"
fi
if [ $STRATEGY -eq 10 ] # vins (stereo-only)
then
F2F_params="--Odom/GuessMotion false --OdomVINS/ConfigPath ./euroc_stereo_config.yaml $F2F_params"
fi
RTABMAP_RGBD_TOOL="rtabmap-euroc_dataset"
if [ $DOCKER -eq 1 ]
then
# Select rtabmap built with os2 support or not
TOOL_PREFIX="/usr/local/bin"
if [ $STRATEGY -eq 5 ]
then
TOOL_PREFIX="/root/rtabmap_os2/bin"
elif [ $STRATEGY -eq 8 ]
then
TOOL_PREFIX="/root/rtabmap_msckf/bin"
fi
RTABMAP_RGBD_TOOL="docker run -v $PWD/datasets/euroc:$DATASET_ROOT_PATH -v $PWD/results/euroc:$EUROC_RESULTS_PATH -i -t --rm introlab3it/rtabmap:jfr2018 $TOOL_PREFIX/rtabmap-euroc_dataset"
if [ $STRATEGY -eq 6 ]
then
xhost +
RTABMAP_RGBD_TOOL="docker run -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v $PWD/datasets/euroc:$DATASET_ROOT_PATH -v $PWD/results/euroc:$EUROC_RESULTS_PATH -i -t --rm introlab3it/rtabmap:jfr2018 $TOOL_PREFIX/rtabmap-euroc_dataset"
fi
fi
echo $RTABMAP_RGBD_TOOL
@@ -111,7 +143,6 @@ do
--OdomORBSLAM2/MaxFeatures 1200\
--output "$EUROC_RESULTS_PATH/$d"\
--output_name $OUTPUT\
--quiet\
$DATASET_ROOT_PATH/$d
done
# For V2_03_difficult: --Vis/MinInliers 10 --disp StereoBM/NumDisparities 32 --StereoBM/UniquenessRatio 5 --Vis/PnPReprojError 3