run module

Run the SLAM system and save, at each frame, the current depth and pose

usage: run [-h] [--dataset DATASET] [--settings SETTINGS] [--dest DEST]
           [--pose_id POSE_ID] [--is_evaluate_depth] [--is_evaluate_pose]
           [--is_bash] [--data_type {TUM,KITTI_VO,KITTI,OTHERS}]
           [--gt_depth GT_DEPTH] [--gt_pose_dir GT_POSE_DIR]
           [--gt_pose_txt GT_POSE_TXT] [--align {scale,scale_7dof,7dof,6dof}]
           [--named NAMED]

Named Arguments

--dataset

path to dataset

Default: “/media/Datasets/KITTI_VO/dataset/sequences/10”

--settings

which configuration?

Default: “./settings_kitty.yaml”

--dest

where do we save artefacts?

Default: “./results_kitty_vo_10”

--pose_id

between which frames do you want compute the pose? If pose_id==-1, get the pose between 0->T; if pose_id >0, compute the pose between T-pose_id->T For instance, if pose_id=2 then compute the pose between T-2->T

Default: -1

--is_evaluate_depth

If set, will evalute the orb depth with the gt files

Default: False

--is_evaluate_pose

If set, will evalute the orb pose with the gt files

Default: False

--is_bash

If set, means use bash shell to evaluate

Default: False

--data_type

Possible choices: TUM, KITTI_VO, KITTI, OTHERS

which dataset type

Default: “KITTI_VO”

--gt_depth

the gt depth files of the dataset

Default: “/media/Datasets/KITTI_VO_SGM/10/depth”

--gt_pose_dir

each frame’s gt pose file, saved as previous to current, and filename as current.npy

Default: “/media/Datasets/KITTI_VO_SGM/10/npy_pose”

--gt_pose_txt

this is the gt pose file provided by kitty or tum.

Default: “/media/Datasets/KITTI_VO/dataset/poses/10.txt”

--align

Possible choices: scale, scale_7dof, 7dof, 6dof

alignment type

Default: “7dof”

--named

the names for saving pose

Default: “kitty_vo_10”