SLAM system using various types of landmarks. README will be supplemented.
docker build -t prime-slam .To run the container use the following command:
docker run --rm -v <DATA_PATH>:/data prime-slam [OPTIONAL_ARGS]The following [OPTIONAL_ARGS] can be used:
optional arguments:
-h, --help show this help message and exit
--data PATH, -d PATH path to data (default: data/)
--data-format STR, -D STR
data format: tum, icl, icl_tum (default: icl_tum)
--save-cloud BOOL, -s BOOL
save resulting cloud (default: True)
--cloud-save-path PATH, -S PATH
path to the saved cloud (default: resulting_cloud.pcd)
--verbose BOOL, -v BOOL
print metrics (default: True)/data
├── scene_0.depth — depth in ICL format
├── scene_0.png — image
├── scene_0.txt — camera parameters
├── scene_1.depth
├── scene_1.png
├── scene_1.txt
...
├── scene_N.depth
├── scene_N.png
└── scene_N.txt
File names may differ from those shown above. Additional information can be found here.
/data
├── /rgb — depth in ICL format
├── image_0.png
...
└── image_N.png
├── /depth
├── depth_0.png
...
└── depth_M.png
└── groundtruth.txt — gt poses in TUM format
Additional information can be found here.
ICL data presented in tum format.