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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
