对建图很感兴趣,于是就在github上clone了ORBSLAM2项目,https://github.com/raulmur/ORB_SLAM2,下载了euroc数据, http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets
./Examples/Monocular/mono_euroc Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml /mnt/orb_slam_data/mav0/cam1/data ./Examples/Monocular/EuRoC_TimeStamps/MH05.txt
跑出来的KeyFrameTrajectory.txt是tum形式的,选择将euroc的data.csv转换成tum形式。
evo_traj euroc /mnt/orb_slam_data/mav0/state_groundtruth_estimate0/data.csv --save_as_tum
对比轨迹
evo_traj tum data.tum KeyFrameTrajectory.txt --ref=data.tum -p --plot_mode=xyz -a --correct_scale
比较绝对误差
evo_ape tum data.tum KeyFrameTrajectory.txt -p --plot_mode=xyz -a --correct_scale
比较相对误差
evo_rpe tum data.tum KeyFrameTrajectory.txt -p --plot_mode=xyz -a --correct_scale
还在学习中,希望多多交流。