EuRoc数据集
ORB_SLAM2
单目
./Examples/Monocular/mono_euroc Vocabulary/ORBvoc.txt Examples/Monocular/EuRoC.yaml ../slam_data/RuRoc/MH01/mav0/cam0/data Examples/Monocular/EuRoC_TimeStamps/MH01.txt
双目
./Examples/Stereo/stereo_euroc Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml ../slam_data/EuRoc/MH01/mav0/cam0/data ../slam_data/EuRoc/MH01/mav0/cam1/data Examples/Stereo/EuRoC_TimeStamps/MH01.txt
ORB_SLAM3
为使结果能在evo中进行评估,需要修改文件夹下system.cc文件中的第584行、第592行、第638行和第647行(SaveTrajectoryEuroc和SaveKeyFrameTrajectoryEuroc函数),把1e9*(*lT)改成(*lT),1e9*pKF改成pKF,改完示例如下:
f << setprecision(6) << pKF->mTimeStamp << " " << setprecision(9) << t.at<float>(0) << " " << t.at<float>(1) << " " << t.at<float>(2) << " " << q[0] << " " << q[1] << " " << q[2] << " " << q[3] << endl;
改完后重新编译(./build.sh)
改对应目标主函数中的结果储存路径可以把结果存在对应的文件夹,示例如下(stereo_inertial_euroc.cc文件):
SLAM.SaveTrajectoryEuRoC("~/Desktop/result-3/EuRoc/stereo+IMU/"+f_file);
SLAM.SaveKeyFrameTrajectoryEuRoC("~/D