(一)测试运行
不同模式测试过程(以MH_03为例)
1、pure mono
运行SLAM:
cd ORB-SLAM3/Example
#run slam
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Monocular/EuRoC_TimeStamps/MH03.txt dataset-MH03_mono
利用ORB-SLAM3自带模块评估:
cd ORB-SLAM3/Example
#evaluate & plot
python ../evaluation/evaluate_ate_scale.py ../evaluation/Ground_truth/EuRoC_left_cam/MH03_GT.txt f_dataset-MH03_mono.txt --plot MH03_mono.pdf
运行结果(ORB_SLAM3_ate.rmse,scale,GT_ate.rmse):
由于单目的尺度未标定,故出现RMSE数值大的现象。
evo评估 (ate):
#plot trajct
evo_traj tum f_dataset-MH03_mono.txt --ref=MH03_groundtruth.txt -p -a -s
#evaluate ate
evo_ape tum f_dataset-MH03_mono.txt MH03_groundtruth.txt -p -a -s
运行结果:
2、pure stereo
运行SLAM:
cd ORB-SLAM3/Example
#run slam
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Stereo/EuRoC_TimeStamps/MH03.txt dataset-MH03_stereo
利用ORB-SLAM3自带模块评估(ate):
cd ORB-SLAM3/Example
#evaluate & plot
python ../evaluation/evaluate_ate_scale.py ../evaluation/Ground_truth/EuRoC_left_cam/MH03_GT.txt f_dataset-MH03_stereo.txt --plot MH03_stereo.pdf
运行结果:
evo评估 (ate):
#plot trajct
evo_traj tum f_dataset-MH03_stereo.txt --ref=MH03_groundtruth.txt -p -a -s
#evaluate ate
evo_ape tum f_dataset-MH03_stereo.txt MH03_groundtruth.txt -p -a -s