Re: Demo RTAB-Map on Turtlebot
Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-process-RGBD-SLAM-datasets-with-RTAB-Map-tp939p680.html
Hi,
As explained in my previous post, you can process the rgbd datasets using the standalone version of rtabmap.
For example, if I download rgbd_dataset_freiburg3_long_office_household.tgz and process this dataset as the instructions of the previous post (note that I have updated the instructions!), I have this final result in the 3D Map view:
Exporting the poses in RGBD-SLAM format, I have (note that I activated "Ignore covariance" for graph optimization in Preferences->RGBD-SLAM panel, which gave a better result):
The ground truth can be downloaded at the same place, which is rgbd_dataset_freiburg3_long_office_household-groundtruth.txt.
You can't show in RTAB-Map the ground truth if this is what you want to do. However, to compare the trajectories visually, you can use the rgbd-datasets offline scripts or online tool:
cheers
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-process-RGBD-SLAM-datasets-with-RTAB-Map-tp939p680.html
Hi,
As explained in my previous post, you can process the rgbd datasets using the standalone version of rtabmap.
For example, if I download rgbd_dataset_freiburg3_long_office_household.tgz and process this dataset as the instructions of the previous post (note that I have updated the instructions!), I have this final result in the 3D Map view:
Exporting the poses in RGBD-SLAM format, I have (note that I activated "Ignore covariance" for graph optimization in Preferences->RGBD-SLAM panel, which gave a better result):
1341847980.722988 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 1341847981.626675 -0.015642 0.061187 -0.000442 0.999929 0.006101 -0.004540 -0.009154 1341847982.630723 -0.035538 0.181744 0.004040 0.999537 0.012725 -0.000731 -0.027633 1341847983.534806 -0.012084 0.434090 0.006632 0.998020 0.022177 0.006554 -0.058493 1341847984.574807 0.039428 0.819880 -0.050540 0.996115 0.032080 0.015546 -0.080520 1341847985.514673 0.357964 0.996485 0.078933 0.991189 0.057660 0.005558 -0.119119 1341847986.425858 0.659426 1.135171 0.262795 0.974064 0.101676 -0.020838 -0.201066 1341847987.490754 1.013584 1.198761 0.390101 0.944529 0.138165 -0.013260 -0.297657 1341847988.469742 1.293537 1.325266 0.426767 0.925981 0.168579 -0.033202 -0.336210 1341847989.402777 1.380018 1.527537 0.499062 0.918713 0.173919 -0.017765 -0.354124 1341847990.374663 1.404609 1.829323 0.578755 0.910131 0.172092 -0.021914 -0.376253 1341847991.310807 1.491128 2.045545 0.641578 0.885992 0.207763 -0.023325 -0.413895 1341847992.318683 1.637897 2.195412 0.765970 0.834651 0.253896 -0.018423 -0.488421 1341847993.222703 1.829369 2.371635 0.874583 0.797212 0.281073 -0.012885 -0.534121 1341847994.233618 2.091439 2.436369 1.031331 0.749945 0.308184 -0.012674 -0.585187 1341847995.266776 2.360920 2.535637 1.189336 0.683120 0.344682 -0.018680 -0.643577 1341847996.239003 2.534574 2.524890 1.279359 0.634688 0.367216 -0.021810 -0.679593 1341847997.210888 2.753426 2.574844 1.380139 0.585203 0.385795 -0.024802 -0.712801 1341847998.154051 2.995849 2.481680 1.549125 0.541851 0.388985 -0.039163 -0.744012 1341847999.086763 3.298964 2.385295 1.678156 0.549242 0.399500 -0.008962 -0.733930 1341848000.094780 3.455787 2.208325 1.730280 -0.419460 -0.443787 0.044518 0.790648 1341848001.030740 3.489796 1.941671 1.750445 -0.320499 -0.471950 0.044436 0.820103 1341848002.070767 3.456978 1.659756 1.682983 -0.171105 -0.473491 0.033400 0.863374 1341848003.042638 3.401794 1.431796 1.573186 -0.129961 -0.492400 0.021199 0.860350 1341848004.053778 3.373706 1.185682 1.486023 -0.245042 -0.459789 -0.009661 0.853496 1341848004.993849 3.337674 0.996765 1.379758 -0.363041 -0.471999 -0.038799 0.802442 1341848005.965681 3.383622 0.899234 1.382972 -0.460351 -0.446871 -0.041707 0.765927 1341848006.937738 3.463827 0.795706 1.443390 0.506704 0.413948 0.006119 -0.756215 1341848007.866745 3.615875 0.718124 1.577369 -0.419052 -0.441864 0.018843 0.792967 1341848008.806865 3.728293 0.562477 1.681484 -0.301363 -0.489901 0.037806 0.817158 1341848009.846800 3.815309 0.362520 1.706377 -0.196345 -0.509786 0.023237 0.837274 1341848010.782711 3.648448 0.202933 1.616570 -0.139902 -0.533313 0.026125 0.833860 1341848011.722610 3.562402 0.164542 1.580802 -0.045360 -0.543805 0.032270 0.837364 1341848012.726854 3.388871 0.150175 1.429914 -0.063930 -0.572725 -0.008428 0.817208 1341848013.634812 3.380094 0.052813 1.370923 -0.242790 -0.556426 -0.057955 0.792517 1341848014.670828 3.463327 -0.156204 1.368270 -0.470749 -0.471990 -0.093638 0.739495 1341848015.650094 3.500472 -0.326812 1.346064 0.651140 0.429360 0.095384 -0.618521 1341848016.554210 3.523529 -0.327644 1.385468 0.718242 0.373655 0.071169 -0.582619 1341848017.587838 3.624275 -0.202518 1.506016 0.656631 0.395258 0.030286 -0.641630 1341848018.534507 3.720940 -0.133993 1.585047 0.574151 0.419994 -0.001922 -0.702817 1341848019.567087 3.972068 -0.116129 1.759334 -0.469802 -0.438678 -0.000072 0.766060 1341848020.502691 4.158896 -0.163116 1.882137 -0.342151 -0.452616 0.011016 0.823377 1341848021.455728 4.298509 -0.344734 1.980489 -0.208649 -0.463711 0.028765 0.860587 1341848022.454164 4.320905 -0.641646 2.034866 -0.063492 -0.443971 0.027644 0.893361 1341848023.386908 4.210284 -0.900535 1.992962 0.136919 -0.479334 0.003605 0.866879 1341848024.390878 3.991068 -1.038592 1.882018 0.281935 -0.476360 0.020229 0.832577 1341848025.330653 3.845056 -1.225899 1.761826 0.387461 -0.474673 0.033593 0.789577 1341848026.267001 3.711481 -1.363885 1.662458 0.466353 -0.462705 0.053294 0.752050 1341848027.238696 3.567385 -1.556652 1.561285 0.508584 -0.450143 0.053609 0.732010 1341848028.186050 3.396239 -1.759830 1.497405 0.485296 -0.439509 0.036065 0.754996 1341848029.320225 3.124560 -1.881982 1.363677 0.505739 -0.440161 0.036903 0.741030 1341848030.258930 2.978769 -2.066120 1.274819 0.581008 -0.418855 0.042052 0.696578 1341848031.162860 2.796127 -2.168044 1.160962 0.659951 -0.366817 0.061540 0.652781 1341848032.098732 2.640893 -2.285500 1.101617 0.716377 -0.335842 0.050630 0.609468 1341848033.006687 2.476127 -2.396729 1.024169 0.735826 -0.317286 0.038242 0.597016 1341848033.911229 2.313375 -2.404948 0.939631 0.776684 -0.285819 0.045964 0.559426 1341848034.882707 2.143871 -2.499783 0.849634 0.828643 -0.244587 0.034748 0.502316 1341848036.022779 1.937980 -2.471042 0.724471 0.863958 -0.193496 0.057134 0.461379 1341848037.026790 1.693402 -2.400076 0.606670 0.896477 -0.157978 0.033005 0.412652 1341848038.066849 1.448825 -2.280089 0.463199 0.911500 -0.142362 0.003790 0.385857 1341848038.970765 1.263068 -2.150882 0.349865 0.931212 -0.126046 -0.005993 0.341936 1341848039.881803 1.075267 -2.055720 0.231431 0.949525 -0.116600 -0.014149 0.290872 1341848040.814675 0.937568 -1.879959 0.169327 0.974551 -0.067642 -0.013210 0.213306 1341848041.886710 0.902419 -1.627144 0.107878 0.994595 0.006987 0.009388 0.103171 1341848042.897767 0.947701 -1.345008 0.099697 0.996148 0.085868 0.016921 -0.005415 1341848043.805817 1.035646 -1.113247 0.126924 0.988234 0.133583 0.020118 -0.071728 1341848044.771011 1.182606 -0.945075 0.179481 0.971949 0.189597 0.018270 -0.137962 1341848045.842865 1.391817 -0.747169 0.256959 0.969646 0.193325 0.020685 -0.148269 1341848046.778736 1.498058 -0.554503 0.263352 0.986995 0.131049 0.028476 -0.088640 1341848047.750845 1.410600 -0.306955 0.236273 0.992047 0.110925 0.034259 -0.048619 1341848048.690791 1.377580 -0.085028 0.281068 0.990562 0.113718 0.011745 -0.075618 1341848049.562799 1.300152 0.101365 0.341824 0.991556 0.102349 -0.019408 -0.077238 1341848050.534849 1.219897 0.362505 0.292995 0.998357 0.053401 -0.015810 -0.013473 1341848051.470890 1.187017 0.572173 0.302556 0.996555 0.002213 -0.047224 0.068141 1341848052.444722 1.118315 0.501245 0.238305 0.984323 -0.124130 -0.060674 0.109632 1341848053.421775 0.963094 0.290268 0.165763 0.991791 -0.106554 -0.068708 0.016644 1341848054.387103 0.802171 0.261264 0.164820 0.995904 0.032304 -0.022616 -0.081359 1341848055.294725 0.595698 0.318826 0.106856 0.985656 0.095665 -0.055927 -0.127293 1341848056.198744 0.431039 0.526133 0.021924 0.972075 0.130626 -0.065316 -0.183687 1341848057.134714 0.470174 0.860036 0.050358 0.977754 0.145796 -0.021488 -0.149263 1341848058.006833 0.507086 1.196903 0.028821 0.962340 0.189907 0.005304 -0.194445 1341848058.978865 0.623851 1.445117 0.107917 0.956953 0.204554 -0.022095 -0.204720 1341848059.882730 0.638233 1.489221 0.111189 0.938194 0.211442 -0.053526 -0.268736 1341848060.823967 0.611327 1.463567 0.081338 0.941651 0.167010 -0.086427 -0.279161 1341848061.762815 0.582749 1.331911 0.137260 0.940475 0.167473 -0.114650 -0.272608 1341848062.666740 0.620577 1.268873 0.154009 0.953611 0.159328 -0.093601 -0.237655 1341848063.541802 0.600509 1.092471 0.135644 0.968231 0.121699 -0.077919 -0.204076 1341848064.481773 0.714159 0.815155 0.178606 0.974191 0.110186 -0.071673 -0.183505 1341848065.446728 0.712172 0.580535 0.161716 0.977982 0.110008 -0.084538 -0.155891 1341848066.418820 0.714043 0.406706 0.114603 0.991285 0.066502 -0.078697 -0.082087 1341848067.491527 0.741824 0.192498 0.175646 0.994099 0.033307 -0.080028 -0.065221
The ground truth can be downloaded at the same place, which is rgbd_dataset_freiburg3_long_office_household-groundtruth.txt.
You can't show in RTAB-Map the ground truth if this is what you want to do. However, to compare the trajectories visually, you can use the rgbd-datasets offline scripts or online tool:
cheers
| Free forum by Nabble | Edit this page |