Re: Demo RTAB-Map on Turtlebot

Posted by BerberechoRick on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-process-RGBD-SLAM-datasets-with-RTAB-Map-tp939p5934.html

Hi Matt
there is a lot of time since this post but I get back to work in this.
with the solution of the associate I could reach more reasonable response:

 python evaluate_ate.py groundtruth.txt posesrtabmap_5-06_30hz.txt --verbose --plot atertabmap.png
compared_pose_pairs 289 pairs
absolute_translational_error.rmse 0.061848 m
absolute_translational_error.mean 0.055130 m
absolute_translational_error.median 0.047995 m
absolute_translational_error.std 0.028032 m
absolute_translational_error.min 0.007329 m
absolute_translational_error.max 0.121167 m

As I'm working with embedded pc I realised that when I used 30 hz most of the time it couldn't reach that input rate but after doing a median from the messages the 27,3 frame rate reduce the errors even more:

python evaluate_ate.py groundtruth.txt posesrtabmap_5-06.txt --verbose --plot atertabmapopt.png
compared_pose_pairs 159 pairs
absolute_translational_error.rmse 0.047323 m
absolute_translational_error.mean 0.045411 m
absolute_translational_error.median 0.043999 m
absolute_translational_error.std 0.013314 m
absolute_translational_error.min 0.012369 m
absolute_translational_error.max 0.083712 m

Since I'm using the same yaml:
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. ]

What would it mean getting barely a tenth of pairs compared from your results? (Despite creating intermediate nodes) (I didn't get much change in these aspect replicating the steps with a more powerful computer)
Letting the input rate to 0 /inf  it reaches around 150 but a bit worse results.