Posted by
matlabbe on
Jun 06, 2019; 3:53pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-process-RGBD-SLAM-datasets-with-RTAB-Map-tp939p5937.html
Not sure what parameters you used in the UI, but for convenience there is now a console application that can be used for benchmarking:
$ rtabmap-rgbd_dataset \
--Rtabmap/DetectionRate 2 \
--RGBD/LinearUpdate 0 \
--Mem/STMSize 30 \
--Rtabmap/CreateIntermediateNodes true \
rgbd_dataset_freiburg3_long_office_household
Paths:
Dataset name: rgbd_dataset_freiburg3_long_office_household
Dataset path: rgbd_dataset_freiburg3_long_office_household
RGB path: rgbd_dataset_freiburg3_long_office_household/rgb_sync
Depth path: rgbd_dataset_freiburg3_long_office_household/depth_sync
Output: rgbd_dataset_freiburg3_long_office_household
Output name: rtabmap
Skip frames: 0
groundtruth.txt: rgbd_dataset_freiburg3_long_office_household/groundtruth.txt
Parameters:
Mem/STMSize=30
RGBD/LinearUpdate=0
Rtabmap/CreateIntermediateNodes=true
Rtabmap/DetectionRate=2
Rtabmap/PublishRAMUsage=true
Rtabmap/WorkingDirectory=rgbd_dataset_freiburg3_long_office_household
RTAB-Map version: 0.19.3
[ WARN] (2019-06-06 11:20:34.879) CameraModel.cpp:286::load() Missing "distorsion_coefficients" field in "rgbd_dataset_freiburg3_long_office_household/rtabmap_calib.yaml"
[ WARN] (2019-06-06 11:20:34.879) CameraModel.cpp:307::load() Missing "distortion_model" field in "rgbd_dataset_freiburg3_long_office_household/rtabmap_calib.yaml"
[ WARN] (2019-06-06 11:20:34.879) CameraModel.cpp:323::load() Missing "rectification_matrix" field in "rgbd_dataset_freiburg3_long_office_household/rtabmap_calib.yaml"
[ WARN] (2019-06-06 11:20:34.879) CameraModel.cpp:339::load() Missing "projection_matrix" field in "rgbd_dataset_freiburg3_long_office_household/rtabmap_calib.yaml"
[ WARN] (2019-06-06 11:20:34.963) CameraImages.cpp:423::readPoses() 2485 valid poses of 2488 stamps
Processing 2488 images...
Iteration 1/2488: camera=39ms, odom(quality=0/981, kfs=1)=19ms, slam=19ms
Iteration 2/2488: camera=9ms, odom(quality=660/919, kfs=1)=60ms, slam=0ms
Iteration 3/2488: camera=9ms, odom(quality=682/981, kfs=1)=38ms, slam=0ms
Iteration 4/2488: camera=9ms, odom(quality=645/978, kfs=1)=36ms, slam=0ms, rmse=0.000000m
Iteration 5/2488: camera=9ms, odom(quality=670/973, kfs=1)=36ms, slam=0ms, rmse=0.000000m
Iteration 6/2488: camera=9ms, odom(quality=671/977, kfs=1)=37ms, slam=0ms, rmse=0.000000m
[...]
Iteration 2485/2488: camera=9ms, odom(quality=413/975, kfs=282)=52ms, slam=1ms, rmse=0.020466m
Iteration 2486/2488: camera=9ms, odom(quality=450/977, kfs=282)=53ms, slam=29ms, rmse=0.020484m
Iteration 2487/2488: camera=10ms, odom(quality=434/975, kfs=282)=52ms, slam=1ms, rmse=0.020570m
Iteration 2488/2488: camera=9ms, odom(quality=414/971, kfs=282)=51ms, slam=1ms, rmse=0.020587m
Saving trajectory...
Saving rgbd_dataset_freiburg3_long_office_household/rtabmap_poses.txt... done!
translational_rmse= 0.022397 m
rotational_rmse= 0.986424 deg
Saving rtabmap database (with all statistics) to "rgbd_dataset_freiburg3_long_office_household/rtabmap.db"
Here the saved
rtabmap_poses.txt. There is also another tool to report results:
$ rtabmap-report rgbd_dataset_freiburg3_long_office_household/rtabmap.db
Database: rgbd_dataset_freiburg3_long_office_household/rtabmap.db
(2488, s=1.000): error lin=0.022m (max=0.043m, odom=0.042m) ang=1.0deg, slam: avg=37ms (max=203ms) loops=21, odom: avg=49ms (max=70ms), camera: avg=9ms, map=376MB
cheers,
Mathieu