Commit a021c1de authored by Nafis A Abeer's avatar Nafis A Abeer
Browse files

Merge branch 'rgbd' into 'master' 

Rgbd

See merge request ec504/ec504_projects/group8!27
parents 9055f220 58fee5d8

.DS_Store

(6 KiB)

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run_vslam.sh→run_vslam_rgbd.sh

+29 −0
Original line number Diff line number Diff line 
#!/bin/bash



# Define the script that runs the VSLAM implementation

MATLAB_SCRIPT="/src/main/java/vslam/vslam_implementation.m"

MATLAB_SCRIPT="/src/main/java/vslam/vslam_implementation_rgbd.m"



# Check if the correct number of arguments was provided

if [ "$#" -ne 1 ]; then

    echo "Usage: $0 {TUM_RGB|EuRoC_Mav}"

    echo "Usage: $0 {tum_rgbd_dataset|imperial_college_london}"

    exit 1

fi



# Determine which dataset to use based on the argument provided

if [ "$1" = "TUM_RGB" ]; then

    DATASET_PATH="../../../../rgbd_dataset_freiburg3_long_office_household/rgb"

elif [ "$1" = "EuRoC_Mav" ]; then

    DATASET_PATH="../../../../mav0/cam0/data"

if [ "$1" = "tum_rgbd_dataset" ]; then

    DATASET_NAME="tum_rgbd_dataset"

elif [ "$1" = "imperial_college_london" ]; then

    DATASET_NAME="imperial_college_london"

else

    echo "Invalid dataset name. Choose either TUM_RGB or EuRoC_Mav."

    echo "Invalid dataset name. Choose either 'tum_rgbd_dataset' or 'imperial_college_london'"

    exit 2

fi
@@ -23,7 +23,7 @@ fi 
cd src/main/java/vslam



# Run the MATLAB script with the dataset path

matlab -batch "worldPointSet = vslam_implementation('${DATASET_PATH}'); save('worldPointSet.mat', 'worldPointSet');"

matlab -batch "vslam_implementation_rgbd('${DATASET_NAME}')"



echo "VSLAM processing complete. Output saved in worldPointSet.mat"

echo "VSLAM processing complete"

src/main/java/vslam/.DS_Store

(10 KiB)

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src/main/java/vslam/KeyFramePoints/KeyFramePoints_0002.csv

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166.888,129.5632,134,-0.1605324,-0.8425714,3.394372

336.52,159.4,135,1.035492,-0.8252162,3.389441

237.16,263.08,137,0.320534,-0.06338126,3.385469

180.712,244.648,143,-0.0376497,-0.1643527,3.417492

326.44,397,149,0.4742463,0.5800573,2.442477

272,74,2,0.4071985,-1.232532,3.162772

194,165,4,0.0002636892,-0.6473298,3.366482

259,209.8,5,0.4380782,-0.41324,3.354209

255,216,6,0.4159851,-0.364756,3.363834

182,218,7,-0.03870046,-0.3219566,3.412415

303,264,11,0.7911108,-0.08256245,3.389954

241,439,14,-0.009165294,0.6888046,2.308352

287,75,15,0.4939215,-1.226825,3.117405

275,77,16,0.4132962,-1.199899,3.11864

167.8,128.2,17,-0.1587087,-0.8419488,3.381545

294,196,19,0.6996369,-0.5317577,3.380455

269,73,22,0.3821633,-1.231444,3.150079

248,221,25,0.3695405,-0.339879,3.373911

237,264,26,0.3142292,-0.05862162,3.382413

278,71,28,0.4170324,-1.232145,3.101007

325,275,29,0.9800313,-0.01553936,3.411268

463,439,30,1.23199,0.8195994,2.299006

284,72,31,0.4470952,-1.226359,3.078166

192,161,32,-0.001003253,-0.6670672,3.383899

292,260,33,0.6993436,-0.09878816,3.377497

275,181,34,0.5361001,-0.6091455,3.341071

258,374,35,0.289955,0.5341135,2.881134

177,141,36,-0.1048768,-0.7878456,3.36775

235,195,37,0.2754636,-0.496252,3.370882

222,207,38,0.2178522,-0.4214447,3.431039

256,211,40,0.3948139,-0.3959205,3.303171

237.4,211,41,0.3017248,-0.3886599,3.372919

184.6,155.8,42,-0.0510777,-0.6929123,3.374343

235,258,44,0.2939454,-0.09925068,3.355387

288,195,45,0.7188889,-0.5644342,3.473133

186,241,46,-0.01527366,-0.1801972,3.403358

296,186,49,0.7055385,-0.5854651,3.377373

184,177,50,-0.04658643,-0.5751675,3.395928

193,173,51,0.00553779,-0.5963731,3.377447

187,234,52,-0.006970262,-0.2243561,3.389426

181,231,54,-0.04469637,-0.242588,3.39712

225,255,56,0.2389411,-0.1106992,3.386347

182,210,57,-0.04494566,-0.3677904,3.390217

192,186,58,0.005687958,-0.5178635,3.381457

260,202,59,0.4441837,-0.4633921,3.354667

239.8,193,60,0.3016365,-0.5055306,3.342712

302.2,254.2,62,0.7852336,-0.1473306,3.398653

193,164.2,63,-0.000811854,-0.6578503,3.371172

322,187,64,0.9069279,-0.6166943,3.371432

186,150,65,-0.04483916,-0.7272227,3.373558

280,186,66,0.5919361,-0.5857335,3.369872

224.2,181,67,0.1969234,-0.5716248,3.360623

178.6,261.4,68,-0.0450547,-0.05945377,3.404844

333,284,69,1.037228,0.0441396,3.396294

330,166,72,1.003974,-0.7725719,3.419943

184.6,230.2,73,-0.02947837,-0.2475659,3.362591

293.8,195.4,74,0.7042819,-0.5346218,3.386134

237.4,263.8,75,0.3182433,-0.06200455,3.37395

338,159,76,0.9753848,-0.7930477,3.286962

177,377,77,-0.108631,0.5567272,3.04028

308,261,78,0.8677491,-0.1087733,3.451555

185.32,156.52,79,-0.05186925,-0.6874685,3.3517

238.6,200.2,80,0.3024458,-0.4630845,3.371537

184.6,176.2,83,-0.04451041,-0.5706668,3.384904

246,194,84,0.3381328,-0.5082854,3.336739

230,250,85,0.2653921,-0.1431204,3.374084

233.8,194.2,86,0.2706853,-0.4959229,3.363505

255,228,87,0.4234664,-0.2913519,3.369165

185.8,241,88,-0.013956,-0.1810682,3.391656

250,215,89,0.3859615,-0.3729099,3.371273

289,184,90,0.6499889,-0.6080215,3.368404

273,189,91,0.5333642,-0.5537217,3.354255

233,214,92,0.2727866,-0.3674195,3.373729

289,193.96,98,0.655971,-0.534866,3.364598

322.6,185.8,100,0.9128084,-0.6248493,3.372419

243.4,195.4,101,0.3282556,-0.4933029,3.352344

325,274.6,104,0.9567934,-0.01488223,3.375676

322.6,172.6,105,0.918357,-0.7173499,3.381445

319,267.4,108,0.9020163,-0.06985029,3.370083

185.32,150.76,110,-0.05077266,-0.7208293,3.360261

179.56,260.2,111,-0.04998285,-0.06115727,3.37848

183.88,176.68,114,-0.05151342,-0.5598835,3.35441

294.76,185.32,115,0.6922401,-0.6006564,3.366868

289,183.88,117,0.6448272,-0.6032348,3.357746

192.52,185.32,118,0.003463787,-0.5174648,3.361814

301.672,172.072,119,0.6729819,-0.6769173,3.261317

223.912,180.712,121,0.199669,-0.5679835,3.373383

192.808,172.072,123,0.003836368,-0.606968,3.372014

279.208,185.896,124,0.5766987,-0.5941082,3.360342

187.624,301.672,130,-0.05671202,0.1670294,3.10165

296.488,303.4,136,0.6353174,0.1705178,3.156216

184.168,177.256,138,-0.05137464,-0.556696,3.351791

294.76,185.896,139,0.7026011,-0.6044998,3.382438

185.5504,301.672,140,-0.03612597,0.1680033,3.226197

318.2608,214.5808,141,0.9113547,-0.4238047,3.409078

224.9488,181.4032,142,0.2107712,-0.5703045,3.377344

243.6112,187.624,144,0.3228566,-0.532351,3.324113

190.1124,302.0868,145,-0.03266144,0.1712767,3.139598

317.0167,214.9956,146,0.8550649,-0.4046484,3.331474

319.505,172.6941,147,0.9705507,-0.7467204,3.517038

304.5751,172.6941,148,0.7462451,-0.6934491,3.353993

312.0401,264.762,150,0.9298742,-0.08282664,3.524899

182.6474,207.5306,151,-0.05081953,-0.3735165,3.34037

185.1357,234.9021,152,-0.01947345,-0.2191729,3.383508

329.4583,282.1802,153,1.007917,0.03019918,3.4013

278.6966,183.1451,154,0.5351047,-0.6012293,3.320491

314.5284,263.7667,155,0.8430696,-0.09364896,3.334252

294.8209,305.5705,156,0.5749677,0.1746293,3.083612

189.117,302.5845,157,-0.04187655,0.1784971,3.158655

223.1573,180.1591,158,0.2030159,-0.5803186,3.390495

src/main/java/vslam/KeyFramePoints/KeyFramePoints_0003.csv

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