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miao a9fc8218ca 毕业设计GeoYolo-SLAM		2025-04-09 16:05:54 +08:00
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CMakeLists.txt	毕业设计GeoYolo-SLAM	2025-04-09 16:05:54 +08:00
README.md	毕业设计GeoYolo-SLAM	2025-04-09 16:05:54 +08:00
build_thirdparty.sh	毕业设计GeoYolo-SLAM	2025-04-09 16:05:54 +08:00
package.xml	毕业设计GeoYolo-SLAM	2025-04-09 16:05:54 +08:00

README.md

Manually Build Probject

cd ~/catkin_ws/src/SLAM/
./build_thirdparty.sh

cd ~/catkin_ws/src
catkin_make

Run SLAM client

SegNet Version

roslaunch rds_slam tum_segnet_walk_xyz.launch

MaskRCNN Version

roslaunch rds_slam tum_maskrcnn_walk_xyz.launch

How to control the framerate

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.

init_delay: the delay of first few frames
frame_delay: the delay of each frame other than the first few frames
init_frames: wait some time for the first few frames