From 1efbd5a0540212d18ed97e99758f9db098aaafd4 Mon Sep 17 00:00:00 2001 From: gitouni <30369762+gitouni@users.noreply.github.com> Date: Mon, 4 Sep 2023 20:43:36 +0800 Subject: [PATCH] Update README.md --- README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 5e95cf7..752168c 100644 --- a/README.md +++ b/README.md @@ -53,12 +53,12 @@ More recent version would be OK. * Build and Compile: `cd build && cmake .. -Wno-dev && make -j`
TroubleShooting If you have installed g2o through ROS (if you have ROS packages like `base_local_planner`/`teb_local_planner`/`mpc_local_planner`), please exclude it from LD_LIBRARY_PATH environment variable, or `source config/settings.sh`.
- +* Argparse Support (Acknowledge [argparse](https://github.com/p-ranav/argparse/tree/master) ) : use `-h` or `--help` for each executable cpp file to view help. ## Step 1: Estimate Camera and Lidar Poses ### orb_slam An example command for KITTI 00 Sequence: ``` -./orb_store ../data/00/ ../config/orb_ori/KITTI00-02.yaml ../data/Vocabulary/ORBvoc.txt ../KITTI-00/slam_res/Twc.txt ../KITTI-00/KeyFrames/ ../KITTI-00/Map.yml 1.5 +./orb_store ../data/00/ ../config/orb_ori/KITTI00-02.yaml ../data/Vocabulary/ORBvoc.txt ../KITTI-00/slam_res/Twc.txt ../KITTI-00/KeyFrames/ ../KITTI-00/Map.yml --slow_rate 1.5 ``` * `../data/00/`: sequence directory of KITTI Sequence 00 * `../config/orb_ori/KITTI00-02.yaml`: yaml file for ORB_SLAM @@ -66,7 +66,7 @@ An example command for KITTI 00 Sequence: * `../KITTI-00/slam_res/Twc.txt`: KeyFrame poses saved by ORB_SLAM, in KITTI format * `../KITTI-00/KeyFrames/`: KeyFrame information saved by ORB_SLAM, can be restored during runtime * `../KITTI-00/Map.yml`: Map saved by ORB_SLAM, can be restored during runtime -* `1.5`: Slow Rate of ORB_SLAM2. Duration between Frames: computation + wait_time >= 1.5 * real timestamp +* `--slow_rate 1.5 [Optional]`: Slow Rate of ORB_SLAM2. Duration between Frames: computation + wait_time >= 1.5 * real timestamp. Smaller `slow_rate` is needed for more powerful CPU. ### F-LOAM an example command for KITTI 00 Sequence: