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RUN on TUM

Download Dataset

We run on fr1/desk fr2/xyz fr3/office dataset. Download fr1/desk

wget https://vision.in.tum.de/rgbd/dataset/freiburg1/rgbd_dataset_freiburg1_desk.tgz --no-check-certificate
tar -xvzf rgbd_dataset_freiburg1_desk.tgz

Download fr2/xyz

wget https://vision.in.tum.de/rgbd/dataset/freiburg2/rgbd_dataset_freiburg2_xyz.tgz --no-check-certificate
tar -xvzf rgbd_dataset_freiburg2_xyz.tgz

Download fr3/office

wget https://vision.in.tum.de/rgbd/dataset/freiburg3/rgbd_dataset_freiburg3_long_office_household.tgz --no-check-certificate
tar -xvzf rgbd_dataset_freiburg3_long_office_household.tgz

Run Guideline

RGB-D

The main program is in Examples/RGB-D/rgbd_tum.cu Usage:

rgbd_tum path_to_vocabulary path_to_settings path_to_sequence path_to_association
  • Run fr1/desk
./build/rgbd_tum Vocabulary/ORBvoc.txt configs/RGB-D/TUM/freiburg1_desk.yaml rgbd_dataset_freiburg1_desk configs/RGB-D/TUM/associations/fr1_desk.txt
  • Run fr2/xyz
./build/rgbd_tum Vocabulary/ORBvoc.txt configs/RGB-D/TUM/freiburg2_xyz.yaml rgbd_dataset_freiburg2_xyz configs/RGB-D/TUM/associations/fr2_xyz.txt
  • Run fr3/office
./build/rgbd_tum Vocabulary/ORBvoc.txt configs/RGB-D/TUM/freiburg3_office.yaml rgbd_dataset_freiburg3_long_office_household configs/RGB-D/TUM/associations/fr3_office.txt

Monocular

The main program is in Examples/Monocular/mono_tum.cu Usage:

mono_tum path_to_vocabulary path_to_settings path_to_sequence
  • Run fr1/desk
./build/mono_tum Vocabulary/ORBvoc.txt configs/Monocular/TUM/freiburg1_desk.yaml rgbd_dataset_freiburg1_desk
  • Run fr2/xyz
./build/mono_tum Vocabulary/ORBvoc.txt configs/Monocular/TUM/freiburg2_xyz.yaml rgbd_dataset_freiburg2_xyz
  • Run fr3/office
./build/mono_tum Vocabulary/ORBvoc.txt configs/Monocular/TUM/freiburg3_office.yaml rgbd_dataset_freiburg3_long_office_household