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data:datasets:rgbd-dataset:rgbdslam_eval [2011/08/31 14:01] sturmju |
data:datasets:rgbd-dataset:rgbdslam_eval [2012/06/18 16:01] |
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- | ====== How to evaluate RGBD-SLAM with our datasets? ====== | ||
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- | This page describes how to evaluate {{http:// | ||
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- | ===== Code download and compilation ===== | ||
- | < | ||
- | $ cd ~/ros | ||
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- | $ svn checkout https:// | ||
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- | $ rosmake rgbdslam_eval --rosdep-install | ||
- | </ | ||
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- | ===== Dataset download and preparation ===== | ||
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- | < | ||
- | $ mkdir -p ~/data | ||
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- | $ cd ~/data | ||
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- | $ wget http:// | ||
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- | $ wget http:// | ||
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- | $ rosrun rgbd_benchmark_tools add_pointclouds_to_bagfile.py ~/ | ||
- | </ | ||
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- | ===== Run RGBDSLAM ===== | ||
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- | < | ||
- | $ rosrun rgbdslam_eval rgbdslam ~/ | ||
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- | $ cat ~/ | ||
- | </ | ||
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- | ===== Evaluate the trajectory versus the ground truth ===== | ||
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- | < | ||
- | $ rosrun rgbd_benchmark_tools evaluate.py ~/ | ||
- | </ | ||
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