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dtam_mapping's Introduction

DTAM implementation (Mapping only)

re-implementation for DTAM: Dense Tracking and Mapping[Newcombe+, 2011] for Mapping only using C++/CUDA

image1

Usage

set up your environment using Docker (optional)

follow the instruction in docker/README.md

cat docker/README.md

download fountain-P11 dataset

follow the instruction in input/fountain/README.md

cat input/fountain/README.md

build

./run.sh

run

./build/main input/json/fountain.json

change parameters as you like

vim input/json/fountain.json

debug CUDA kernel (optional)

1. memory checker

cuda-memcheck ./build/main input/json/fountain.json

2. cuda-gdb

cuda-gdb ./build/main

set breakpoint at cuda kernel updateCostVolume

(cuda-gdb) b updateCostVolume

run program with argument

(cuda-gdb) r input/json/fountain.json

dtam_mapping's People

Contributors

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Stargazers

avatar Emanuel avatar avatar Andrej Studer avatar Xu T avatar Robotics_Qi avatar avatar

Watchers

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Forkers

nh89 gatsby23 shromm-gaind ancidol

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