evaluate using EUROC dataset

[Yuli]

Dear Mathieu,
Thanks for the reply on my last post, I turned back to EUROC  for now cause I
couldn't get anything display in RTABMAPVIZ for rgbd slam dataset, even the example one in your launch file.
Here are plots of ground truth trajectory and
saved trajectories got from rtabmap on EUROC dataset. Time resolution of saved trajectories
is way more coarser than that in groundtruth. I haven't looked into it, though.
Not to mention the saved trajectories are not close to the ground truth any bit!
Did you have experience on this dataset?? Thank you!    

Ming
V1_easy_01.bag
groundtruth

VO

VIO(VO+IMU)

[Yuli]

Btw, since V1_easy_01.bag has no cameraInfo,
so I do publishing cameraInfo and synchronizing them with image_raw and passing
to stereo_image_proc to do rectification myself. And as for the cameraInfo , I borrowed from
yaml in ORB-SLAM2. Thanks!


Ming

[matlabbe]

Hi,

For RGBD-SLAM datasets, I just tried the example at top of rgbdslam_datasets.launch and it should work (I launched with rtabmapviz:=true to see rtabmapviz along with rviz):

$ wget http://vision.in.tum.de/rgbd/dataset/freiburg3/rgbd_dataset_freiburg3_long_office_household.bag
$ rosbag decompress rgbd_dataset_freiburg3_long_office_household.bag
$ roslaunch rtabmap_ros rgbdslam_datasets.launch rtabmapviz:=true
$ rosbag play --clock rgbd_dataset_freiburg3_long_office_household.bag

RMSE (View->Statistics->GT->Translational rmse) should be around 0.5 cm.

For EUROC datasets, I didn't test the rosbags, just the extracted images directory. For benchmarking, I recommend to use the offline tools of rtabmap: rtabmap-rgbd_dataset, rtabmap-euroc_dataset and rtabmap-kitti_dataset.

I just created an example launch file to run euroc bags, see euroc_datasets.launch. Example:

$ roslaunch rtabmap_ros euroc_datasets.launch
$ rosbag play --clock MH_01_easy.bag

RMSE (View->Statistics->GT->Translational rmse) should be around 11-12 cm.


cheers,
Mathieu

[Yuli]

Dear Mathieu,
It's super weird, I just tried rgbd slam dataset and all of sudden they all worked,
I mean, at least they could be displayed by rtabmapviz.(even not using the latest
rgbdslam_datasets.launch you just updated !)

As for Euroc, I didn't know there're tools in rtabmap for them already.

All I wanted to see was whether IMU really helped produced
a more accurate trajectory. I will try to check it by rgbd slam for now.

Thank you so much. I am so stunned by your work and thanks for
being so patient and nice!


Ming