mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
69ac21f811
* Adding GFTT and SIFT Cuda support * Working CudaSift * Disable cudasift option when not available * Added check to avoid re-allocating gpu memory everytime parseParameters is called. Added workaround of to detect/ignore invalid descriptors * Added SIFT/PreciseUpscale and SIFT/Upscale parameters. Adjusted max octave to behave more like opencv * Refactored how maximum features are thresholded, to be more similar to OpenCV version * Updated loop closure benchmark scripts * Cuda optical flow tmp commit * Added Stereo/Gpu Vis/CorFlowGpu parameters (optical flow gpu integration for F2F odom and stereo correspondences) * Fixed build without opencv cuda * Fixed build with Opencv 4.10 * ZED: updated parameters to match zed sdk 4 * MRPT requires C++17 * updated max octave limit CudaSift
54 lines
1.1 KiB
Bash
Executable File
54 lines
1.1 KiB
Bash
Executable File
#!/bin/bash
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DATASET_FOLDER=""
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GT_FILE=""
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MEMORY_THR=300
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DETECTOR=0
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GPU=false
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if [ $# -ge 2 ]
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then
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DATASET_FOLDER=$1
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GT_FILE=$2
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else
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echo "Usage: run_bow.sh \"dataset folder\" \"ground truth file\" [\"Rtabmap/MemoryThr=300\"] [\"Kp/DetectorStrategy=0\"] [\"GPU=false\"]"
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exit
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fi
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if [ $# -ge 3 ]
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then
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MEMORY_THR=$3
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fi
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if [ $# -ge 4 ]
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then
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DETECTOR=$4
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fi
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if [ $# -ge 5 ]
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then
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GPU=$5
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fi
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rtabmap-console \
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-quiet \
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--Rtabmap/StatisticLogged true\
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--Rtabmap/StatisticLoggedHeaders false\
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--Kp/DetectorStrategy $DETECTOR\
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--SURF/HessianThreshold 150\
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--Rtabmap/MemoryThr $MEMORY_THR\
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--Rtabmap/LoopRatio 0.9\
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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 0.20\
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--FAST/Gpu $GPU\
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--GFTT/Gpu $GPU\
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--ORB/Gpu $GPU\
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--SIFT/Gpu $GPU\
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--SURF/GpuVersion $GPU\
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-gt "$GT_FILE"\
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"$DATASET_FOLDER"
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