Re: Demo RTAB-Map on Turtlebot

Posted by matlabbe on Aug 01, 2018; 8:20pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-process-RGBD-SLAM-datasets-with-RTAB-Map-tp939p4840.html

Hi,

I followed the same steps as the post and they should still work with the latest versions. When the mapping is completed (here I activated intermediate nodes creation like mentioned in the post), press Stop, then do Edit->"Download graph only" with global map optimized option and you should see something like this:


To export poses in RGBD-SLAM format, do File->Export poses... and select RGB-D SLAM format. Save the file to poses.txt for example. With the rgbd-slam evaluation tool:

$ python evaluate_ate.py groundtruth.txt poses.txt --plot figure.png --offset 0 --scale 1 --verbose
compared_pose_pairs 1199 pairs
absolute_translational_error.rmse 0.035687 m
absolute_translational_error.mean 0.034737 m
absolute_translational_error.median 0.033668 m
absolute_translational_error.std 0.008178 m
absolute_translational_error.min 0.013810 m
absolute_translational_error.max 0.084219 m

Note that based on the RGB calibration for fr3, you may use these calibration parameters instead (which fix the scale of the trajectory):

%YAML:1.0
---
camera_name: fr3
image_width: 640
image_height: 480
camera_matrix:
   rows: 3
   cols: 3
   data: [ 5.3539999999999998e+02, 0., 3.2010000000000002e+02, 0.,
       5.3920000000000005e+02, 2.4759999999999999e+02, 0., 0., 1. ]

which gives:

compared_pose_pairs 1252 pairs
absolute_translational_error.rmse 0.022903 m
absolute_translational_error.mean 0.018278 m
absolute_translational_error.median 0.014916 m
absolute_translational_error.std 0.013801 m
absolute_translational_error.min 0.001312 m
absolute_translational_error.max 0.079146 m