This code is the Theia plugin implementation base on GSLAM.
git clone https://github.com/zdzhaoyong/GSLAM --branch 2.4.2
mkdir build;
cd build;
cmake .. -DCMAKE_BUILD_TYPE=Release;
make;
sudo make install
Since TheiaSfM plugin now use image file path as input, the dataset should provide frames with filePath information.
Now DroneMap keyframes datasets and RTMapper datasets are supported.
- Download sample dataset:
git clone https://github.com/zdzhaoyong/phantom3-village-kfs
- Run with gslam
gslam SLAM=libgslam_theiaSfM Dataset=<folder>/phantom3-village-kfs/.npudronemap
Since the SfM process is quite slow compare to SLAM plugins, the real process is started after all frames feeded. We suggest users to try a small dataset first or stop feeding frames with pressing stop button when enough frames are feeded. You can further boost the speed with parameter PlaySpeed and num_threads setted.
gslam SLAM=libgslam_theiaSfM Dataset=<folder>/phantom3-village-kfs/.npudronemap PlaySpeed=5 num_threads=4