We run on office0 office1 office2 office3 office4 room0 room1 room2 from the Replica dataset made by NICE-SLAM. Download Replica from NICE-SLAM
wget https://cvg-data.inf.ethz.ch/nice-slam/data/Replica.zip --no-check-certificate
unzip Replica.zip
Modify the dataset to our directory structure
The original structure (Take office0 as example):
Replica
- office0
- results (contain rgb and depth images)
Our structure (We move the rgb and depth images from results into independent folders):
Replica
- office0
- frame (contain rgb images only)
- depth (contain depth images only)
The main program is in Examples/RGB-D/rgbd_tum.cu Usage:
rgbd_replica path_to_vocabulary path_to_settings path_to_sequence
- Run office0
./build/rgbd_replica Vocabulary/ORBvoc.txt configs/RGB-D/Replica/office0.yaml Replica/office0/
- Run office1
./build/rgbd_replica Vocabulary/ORBvoc.txt configs/RGB-D/Replica/office1.yaml Replica/office1/
- Run office2
./build/rgbd_replica Vocabulary/ORBvoc.txt configs/RGB-D/Replica/office2.yaml Replica/office2/
- Run office3
./build/rgbd_replica Vocabulary/ORBvoc.txt configs/RGB-D/Replica/office3.yaml Replica/office3/
- Run office4
./build/rgbd_replica Vocabulary/ORBvoc.txt configs/RGB-D/Replica/office4.yaml Replica/office4/
- Run room0
./build/rgbd_replica Vocabulary/ORBvoc.txt configs/RGB-D/Replica/room0.yaml Replica/room0/
- Run room1
./build/rgbd_replica Vocabulary/ORBvoc.txt configs/RGB-D/Replica/room1.yaml Replica/room1/
- Run room2
./build/rgbd_replica Vocabulary/ORBvoc.txt configs/RGB-D/Replica/room2.yaml Replica/room2/
The main program is in Examples/Monocular/mono_replica.cu Usage:
mono_replica path_to_vocabulary path_to_settings path_to_sequence
- Run office0
./build/mono_replica Vocabulary/ORBvoc.txt configs/Monocular/Replica/office0.yaml Replica/office0/
- Run office1
./build/mono_replica Vocabulary/ORBvoc.txt configs/Monocular/Replica/office1.yaml Replica/office1/
- Run office2 (Tune this)
./build/mono_replica Vocabulary/ORBvoc.txt configs/Monocular/Replica/office2.yaml Replica/office2/
- Run office3
./build/mono_replica Vocabulary/ORBvoc.txt configs/Monocular/Replica/office3.yaml Replica/office3/
- Run room0
./build/mono_replica Vocabulary/ORBvoc.txt configs/Monocular/Replica/room0.yaml Replica/room0/
- Run room1
./build/mono_replica Vocabulary/ORBvoc.txt configs/Monocular/Replica/room1.yaml Replica/room1/
- Run room2
./build/mono_replica Vocabulary/ORBvoc.txt configs/Monocular/Replica/room2.yaml Replica/room2/