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fixed a compilation warning and updated usage of benchmarking tools

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This commit is contained in:
matlabbe
2018-02-02 08:51:38 -05:00
parent 61199eff9c
commit 70991cf173
4 changed files with 19 additions and 32 deletions
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7
tools/EurocDataset/main.cpp
View File

@@ -61,7 +61,12 @@ void showUsage()
" --disp Generate full disparity.\n"
"%s\n"
"Example:\n\n"
" $ rtabmap-euroc_dataset --Rtabmap/DetectionRate 4 ~/EuRoC/V1_03_difficult\n\n", rtabmap::Parameters::showUsage());
" $ rtabmap-euroc_dataset \\\n"
" --Rtabmap/PublishRAMUsage true\\\n"
" --Rtabmap/DetectionRate 2\\\n"
" --RGBD/LinearUpdate 0\\\n"
" --Mem/STMSize 30\\\n"
" ~/EuRoC/V1_03_difficult\n\n", rtabmap::Parameters::showUsage());
exit(1);
}

24
tools/KittiDataset/main.cpp
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@@ -69,24 +69,16 @@ void showUsage()
"%s\n"
"Example:\n\n"
" $ rtabmap-kitti_dataset \\\n"
" --Vis/BundleAdjustment 1\\\n"
" --Vis/PnPRefineIterations 0\\\n"
" --Vis/MaxFeatures 1800\\\n"
" --Vis/BundleAdjustment 1\\\n"
" --Vis/Iterations 300\\\n"
" --GFTT/QualityLevel 0.01\\\n"
" --GFTT/MinDistance 7\\\n"
" --Odom/GuessMotion true\\\n"
" --OdomF2M/BundleAdjustment 1\\\n"
" --Mem/UseOdomFeatures true\\\n"
" --Kp/DetectorStrategy true\\\n"
" --Kp/MaxFeatures 900\\\n"
" --Rtabmap/PublishRAMUsage true\\\n"
" --Rtabmap/DetectionRate 2\\\n"
" --Rtabmap/CreateIntermediateNodes true\\\n"
" --RGBD/ProximityBySpace false\\\n"
" --Stereo/MaxLevel 5\\\n"
" --Stereo/MaxDisparity 256\\\n"
" --Stereo/MinDisparity 0.5\\\n"
" --RGBD/LinearUpdate 0\\\n"
" --GFTT/QualityLevel 0.01\\\n"
" --GFTT/MinDistance 7\\\n"
" --OdomF2M/MaxSize 3000\\\n"
" --Mem/STMSize 30\\\n"
" --Kp/MaxFeatures 750\\\n"
" --Vis/MaxFeatures 1500\\\n"
" --gt \"~/KITTI/devkit/cpp/data/odometry/poses/07.txt\"\\\n"
" ~/KITTI/dataset/sequences/07\n\n", rtabmap::Parameters::showUsage());
exit(1);

18
tools/RgbdDataset/main.cpp
View File

@@ -61,20 +61,10 @@ void showUsage()
"%s\n"
"Example:\n\n"
" $ rtabmap-rgbd_dataset \\\n"
" --Vis/BundleAdjustment 1\\\n"
" --Vis/PnPRefineIterations 0\\\n"
" --Vis/BundleAdjustment 1\\\n"
" --Vis/Iterations 300\\\n"
" --GFTT/QualityLevel 0.001\\\n"
" --GFTT/MinDistance 3\\\n"
" --Odom/GuessMotion true\\\n"
" --OdomF2M/BundleAdjustment 1\\\n"
" --Mem/UseOdomFeatures true\\\n"
" --Kp/DetectorStrategy true\\\n"
" --Kp/MaxFeatures 600\\\n"
" --Rtabmap/DetectionRate 4\\\n"
" --Rtabmap/CreateIntermediateNodes true\\\n"
" --RGBD/ProximityBySpace false\\\n"
" --Rtabmap/PublishRAMUsage true\\\n"
" --Rtabmap/DetectionRate 2\\\n"
" --RGBD/LinearUpdate 0\\\n"
" --Mem/STMSize 30\\\n"
" ~/rgbd_dataset_freiburg3_long_office_household\n\n", rtabmap::Parameters::showUsage());
exit(1);
}