Re: Demo RTAB-Map on Turtlebot

Posted by Heike on Mar 20, 2019; 10:12am
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-process-RGBD-SLAM-datasets-with-RTAB-Map-tp939p5677.html

Hello,

I had the same issue (workaround see below):
by executing the evaluate_ate.py script, I got values like you in your post:
absolute_translational_error.rmse 408041.042321 m
absolute_translational_error.mean 379314.518259 m
absolute_translational_error.median 375067.726482 m
absolute_translational_error.std 150392.780599 m
absolute_translational_error.min 53123.714529 m
absolute_translational_error.max 770123.529968 m

Probably because I use another language on my PC and thus, my poses.txt file generated by rtabmap had "," as seperation instead of ".". The groundtruth.txt file uses "." as seperation.

I fixed it as workaround in the associate.py file, used by the evaluate_ate.py file in the method "read_file_list" in line 66:
lines = data.replace(",", ".").replace(",", " ").replace("\t"," ").split("\n")
instead of the original version:
lines = data.replace(",", " ").replace("\t"," ").split("\n")

Greets
Heike