RTAB-MAP跑数据集并测评

RTAB-MAP的三种测评方法

数据集网址:https://vision.in.tum.de/data/datasets
方法一
http://official-rtab-map-forum.206.s1.nabble.com/How-to-process-RGBD-SLAM-datasets-with-RTAB-Map-td939.html
cd 数据集
1.python associate.py rgb.txt depth.txt生成同步的文件夹rgb_syrc、depth_syrc
associate.py文件地址：https://blog.csdn.net/Hu_weichen/article/details/91127282?spm=1001.2101.3001.6650.5&utm_medium=distribute.pc_relevant.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7ERate-5.pc_relevant_aa&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7ERate-5.pc_relevant_aa&utm_relevant_index=7#commentBox
2.创建校准文件"rgbddatasets.yaml"
%YAML:1.0
camera_name: rgbddatasets
image_width: 0
image_height: 0
camera_matrix:
rows: 3
cols: 3
data: [ 525., 0., 3.1950000000000000e+02, 0., 525.,
2.3950000000000000e+02, 0., 0., 1. ]
distor