mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 08:47:45 +08:00
40 lines
1.1 KiB
Bash
40 lines
1.1 KiB
Bash
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#!/bin/bash
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# X11 Setup
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XAUTH=/tmp/.docker.xauth
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touch $XAUTH
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xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
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# Docker Run Command
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docker run -it --rm \
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--user $(id -u) \
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--privileged \
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--gpus all \
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-e LD_PRELOAD="/opt/hpcx/ucc/lib/libucc.so.1" \
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-e NVIDIA_VISIBLE_DEVICES=all \
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-e NVIDIA_DRIVER_CAPABILITIES=all \
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-e DISPLAY=$DISPLAY \
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-e QT_X11_NO_MITSHM=1 \
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-e XAUTHORITY=$XAUTH \
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-v $XAUTH:$XAUTH \
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-v /tmp/.X11-unix:/tmp/.X11-unix \
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-e ROS_HOME=/tmp/.ros \
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--network host \
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-v ~/.ros:/tmp/.ros \
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rtabmap_ros:superpoint \
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ros2 launch rtabmap_examples realsense_d435i_infra.launch.py \
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args:=" \
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--SuperPoint/ModelPath /workspace/superpoint_v1.pt \
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--PyMatcher/Path /workspace/SuperGluePretrainedNetwork/rtabmap_superglue.py \
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--Kp/DetectorStrategy 11 \
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--Kp/NndrRatio 0.6 \
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--Vis/CorNNType 6 \
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--Vis/CorNNDR 0.6 \
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--Reg/RepeatOnce false \
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--Vis/CorGuessWinSize 0" \
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odom_args:=" \
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--Vis/CorNNType 1 \
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--Reg/RepeatOnce true \
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--Vis/CorGuessWinSize 40 \
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--Vis/CorNNDR 0.8"
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