edit shuju

Examples/RGB-D/rgbd_tum.cc

@@ -62,7 +62,7 @@ int main(int argc, char **argv)
     }
 
     // Create SLAM system. It initializes all system threads and gets ready to process frames.
-    ORB_SLAM2::System SLAM(argv[1],argv[2],ORB_SLAM2::System::RGBD, true, false, false, false); //viewer localmap, loop,trackonly
+    ORB_SLAM2::System SLAM(argv[1],argv[2],ORB_SLAM2::System::RGBD, true, true, false, false); //viewer localmap, loop,trackonly
 
     // Vector for tracking time statistics
     vector<float> vTimesTrack;

SP-SLAM使用说明.md

@@ -19,7 +19,7 @@
 
 特别注意：
 
-- rgb-d tum文件里有4个true或者false的选项需要在编译之前修改，分别控制的是viewer，localmap，loop和trackonly这4种模式（20190513 代码中改动的地方搜索zoe 20190513能找到）
+- rgb-d tum文件里有4个true或者false的选项需要在编译之前修改，分别控制的是viewer，localmap，loop和trackonly这4种模式（代码中改动的地方搜索zoe 20190513能找到）
 
 ## 3. 说明
 
@@ -40,3 +40,6 @@
 [^]: 运行脚本前请看脚本里的备注,注意路径/数据集名称是否需要修改,如果在此电脑运行,则不需要更改.
 ​	现在存了LFNET500和LFNET1000以及ORB SP四个文件夹,里面有对应的性能分析文件,供参考.
 
+## 4.实验结果
+
+- 20190513 把线程分离开，但是词袋模型没有删掉，实验结果[ORB链接](https://pan.baidu.com/s/1aWpuZQJuJV48nLr0-Jrx3g)(提取码：s556)    [SP链接](https://pan.baidu.com/s/1VkUAtfK-Mgn7d-30dLA6UQ)(提取码：mbwy)

eval_script/ORB/off-loop/txt/ATE.txt

@@ -0,0 +1 @@
+absolute_translational_error.rmse 0.090548 mabsolute_translational_error.mean 0.087348 mabsolute_translational_error.median 0.084906 mabsolute_translational_error.std 0.023860 m

eval_script/ORB/off-loop/txt/rpe.txt

@@ -0,0 +1 @@
+translational_error.rmse 0.043545 translational_error.mean 0.033804 translational_error.median 0.025986 translational_error.std 0.027449 rotational_error.rmse 1.817925 rotational_error.mean 1.617697 rotational_error.median 1.479127 rotational_error.std 0.829402 

eval_script/ORB/off-looplocal/txt/ATE.txt

@@ -0,0 +1 @@
+absolute_translational_error.rmse 0.207068 mabsolute_translational_error.mean 0.188585 mabsolute_translational_error.median 0.179593 mabsolute_translational_error.std 0.085515 m

eval_script/ORB/off-looplocal/txt/rpe.txt

@@ -0,0 +1 @@
+translational_error.rmse 0.053793 translational_error.mean 0.038517 translational_error.median 0.029353 translational_error.std 0.037552 rotational_error.rmse 1.975938 rotational_error.mean 1.707845 rotational_error.median 1.542199 rotational_error.std 0.993779 

eval_script/ORB/off-looplocalonly/txt/ATE.txt

@@ -0,0 +1 @@
+absolute_translational_error.rmse 0.198590 mabsolute_translational_error.mean 0.180467 mabsolute_translational_error.median 0.166231 mabsolute_translational_error.std 0.082882 m

eval_script/ORB/off-looplocalonly/txt/rpe.txt

@@ -0,0 +1 @@
+translational_error.rmse 0.071973 translational_error.mean 0.055584 translational_error.median 0.044459 translational_error.std 0.045723 rotational_error.rmse 2.617889 rotational_error.mean 2.322802 rotational_error.median 2.098984 rotational_error.std 1.207449 

eval_script/ORB_Evaluate.sh

@@ -12,7 +12,7 @@ for i in $(seq $Num)
 do
 echo "start test"
 /home/yuchao/catkin_ws/src/ORB_SLAM2/Examples/RGB-D/rgbd_tum $slamArg
-python evaluate_rpe.py $Dataset/groundtruth.txt /home/yuchao/catkin_ws/src/ORB_SLAM2/CameraTrajectory.txt --fixed_delta --plot png/${ImgPrefix}_RPE_ORB_${i}.png --verbose
-python evaluate_ate.py $Dataset/groundtruth.txt /home/yuchao/catkin_ws/src/ORB_SLAM2/CameraTrajectory.txt --plot png/${ImgPrefix}_ATE_ORB_${i}.png --verbose
+python evaluate_rpe.py $Dataset/groundtruth.txt CameraTrajectory.txt --fixed_delta --plot png/${ImgPrefix}_RPE_ORB_${i}.png --verbose
+python evaluate_ate.py $Dataset/groundtruth.txt CameraTrajectory.txt --plot png/${ImgPrefix}_ATE_ORB_${i}.png --verbose
 done
 

eval_script/SP/off-loop/txt/ATE.txt

@@ -0,0 +1 @@
+absolute_translational_error.rmse 0.132134 mabsolute_translational_error.mean 0.114728 mabsolute_translational_error.median 0.094413 mabsolute_translational_error.std 0.065551 m

eval_script/SP/off-loop/txt/rpe.txt

@@ -0,0 +1 @@
+translational_error.rmse 0.038629 translational_error.mean 0.030651 translational_error.median 0.024689 translational_error.std 0.023510 rotational_error.rmse 1.805696 rotational_error.mean 1.574448 rotational_error.median 1.464517 rotational_error.std 0.884110 

eval_script/SP/off-looplocal/txt/ATE.txt

@@ -0,0 +1 @@
+absolute_translational_error.rmse 0.279614 mabsolute_translational_error.mean 0.254458 mabsolute_translational_error.median 0.225059 mabsolute_translational_error.std 0.115909 m

eval_script/SP/off-looplocal/txt/rpe.txt

@@ -0,0 +1 @@
+translational_error.rmse 0.047964 translational_error.mean 0.038606 translational_error.median 0.031321 translational_error.std 0.028462 rotational_error.rmse 2.045145 rotational_error.mean 1.792136 rotational_error.median 1.624407 rotational_error.std 0.985325 

eval_script/SP/off-looplocalonly/txt/ATE.txt

@@ -0,0 +1 @@
+absolute_translational_error.rmse 0.226721 mabsolute_translational_error.mean 0.207994 mabsolute_translational_error.median 0.182124 mabsolute_translational_error.std 0.090227 m

eval_script/SP/off-looplocalonly/txt/rpe.txt

@@ -0,0 +1 @@
+translational_error.rmse 0.059133 translational_error.mean 0.050363 translational_error.median 0.042975 translational_error.std 0.030987 rotational_error.rmse 2.268855 rotational_error.mean 2.077986 rotational_error.median 2.014801 rotational_error.std 0.910866