Direkt zum Inhalt springen
Computer Vision Group
TUM Department of Informatics
Technical University of Munich

Technical University of Munich

Menu

Links

Informatik IX
Chair of Computer Vision & Artificial Intelligence

Boltzmannstrasse 3
85748 Garching info@vision.in.tum.de

Follow us on:
CVG Group DVL Group


How to evaluate RGBD-SLAM with our datasets?

This page describes how to evaluate RGBD-SLAM using our Kinect datasets.

Code download and compilation

cd ~/ros

svn checkout https://svncvpr.in.tum.de/cvpr-ros-pkg/trunk cvpr-ros-pkg

rosmake rgbdslam_eval --rosdep-install

Dataset download and preparation

mkdir -p ~/data

cd ~/data

wget http://www9.in.tum.de/~sturmju/dirs/rgbd_datasets/freiburg1/rgbd_dataset_freiburg1_xyz.bag

wget http://www9.in.tum.de/~sturmju/dirs/rgbd_datasets/freiburg1/rgbd_dataset_freiburg1_xyz-groundtruth.txt

rosrun rgbd_benchmark_tools add_pointclouds_to_bagfile.py ~/data/rgbd_dataset_freiburg1_xyz.bag --nth 1

Run RGBDSLAM

rosrun rgbdslam_eval rgbdslam ~/data/rgbd_dataset_freiburg1_xyz-points.bag ~/data/rgbdslam_xyz.txt

cat ~/data/rgbdslam_xyz.txt

Evaluate the trajectory versus the ground truth

rosrun rgbd_benchmark_tools evaluate.py ~/data/rgbd_dataset_freiburg1_xyz-groundtruth.txt ~/data/rgbdslam_xyz.txt

Rechte Seite

Informatik IX
Chair of Computer Vision & Artificial Intelligence

Boltzmannstrasse 3
85748 Garching info@vision.in.tum.de

Follow us on:
CVG Group DVL Group