i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added graph::calcRelativeErrors() and option --relative for report. Added skip frames option on rgbd_dataset tool.

Browse Source
This commit is contained in:
matlabbe
2019-04-27 20:39:40 -04:00
parent 195f6147ad
commit 125d532e95
4 changed files with 119 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
corelib/include/rtabmap/core/Graph.h
View File

@@ -79,6 +79,19 @@ void RTABMAP_EXP calcKittiSequenceErrors(
float & t_err,
float & r_err);
/**
* Compute average of translation and rotation errors between each poses.
* @param poses_gt, Ground Truth poses
* @param poses_result, Estimated poses
* @param t_err, Output translation error (m)
* @param r_err, Output rotation error (deg)
*/
void RTABMAP_EXP calcRelativeErrors (
const std::vector<Transform> &poses_gt,
const std::vector<Transform> &poses_result,
float & t_err,
float & r_err);
/**
* Compute root-mean-square error (RMSE) like the TUM RGBD
* dataset's evaluation tool (absolute trajectory error).