32 lines
669 B
Markdown
32 lines
669 B
Markdown
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# Manually Build Probject
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```sh
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cd ~/catkin_ws/src/SLAM/
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./build_thirdparty.sh
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cd ~/catkin_ws/src
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catkin_make
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```
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# Run SLAM client
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## SegNet Version
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```sh
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roslaunch rds_slam tum_segnet_walk_xyz.launch
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```
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## MaskRCNN Version
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```sh
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roslaunch rds_slam tum_maskrcnn_walk_xyz.launch
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```
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# How to control the framerate
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Due to the performance is somehow related to the GPU configuration, you can trade off the tracking performance and real-time performance by adjusting these parameters.
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- init_delay: the delay of first few frames
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- frame_delay: the delay of each frame other than the first few frames
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- init_frames: wait some time for the first few frames
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