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Test

Download the test dataset

cd $MY_WORKSPACE/rpg_open_remode
wget http://rpg.ifi.uzh.ch/datasets/remode_test_data.zip
unzip remode_test_data.zip

Specify the path to the test data by setting the environment variable

export RMD_TEST_DATA_PATH=$MY_WORKSPACE/rpg_open_remode/test_data

If you built without ROS, just execute

cd $MY_WORKSPACE/rpg_open_remode/build
./all_tests

Otherwise

cd $MY_CATKIN_WORKSPACE/devel/lib/open_remode
./all_tests

You can now run REMODE on the test data. Specify the path to the test data:

export RMD_TEST_DATA_PATH=$MY_WORKSPACE/rpg_open_remode/test_data

In case you did not build the ROS node, just execute the following:

cd $MY_WORKSPACE/rpg_open_remode/build
./dataset_main

For the ROS build, a launch file is provided to start the REMODE ROS node. Update your ROS package path and launch the REMODE node:

source cd $MY_CATKIN_WORKSPACE/devel/setup.sh
roslaunch open_remode dataset.launch

A node is provided to publish the test dataset. Run it by executing

rosrun open_remode dataset_publisher

CUDA specific topics

If you have more than one CUDA-capable GPUs in your system, you can specify which one to use by passing the --device= command-line argument. For instance, to run the example using the GPU identified by ID 1, execute the following:

cd $MY_WORKSPACE/rpg_open_remode/build
./dataset_main --device=1

By default, the GPU identified by ID 0 is used.

You can target the compute capability of your CUDA device by specifying arch=compute_xx,code=sm_x in the CUDA_NVCC_FLAGS.