0.15.1: CameraImages: added ground truth time diff, fixed memory leak when loading binary scans. CameraRGBDImages and CameraStereoImages: fixed start id. Feature2D: added grid rows and cols parameters (Kp/GridRows, Kp/GridCols, Vis/GridRows, Vis/GridCols). OdomInfo: publish bundle frames. OdometryORBSLAM2: added OdomORBSLAM2/Fps and OdomORBSLAM2/MaxFeatures parameters. Registration: added Reg/RepeatOnce parameter and removed variance normalization. For util2d::getDepth() and util3d::projectDepthTo3D(), maxZError parameter is now depthErrorRatio to be dependent of the sensor range. Database: save image width and height from stereo calibration. OptimizerG2O: fixed SBA optimization when using g2o built from ORBSLAM2 library. OptimizerGTSAM: to increase optimization stability, all rotations in information matrix are divided by 100000. Added rtabmap-report tool.

tools/CMakeLists.txt

@@ -8,6 +8,7 @@ ADD_SUBDIRECTORY( StereoEval )
 ADD_SUBDIRECTORY( KittiDataset )
 ADD_SUBDIRECTORY( RgbdDataset )
 ADD_SUBDIRECTORY( Recovery )
+ADD_SUBDIRECTORY( Report )
 
 IF(OPENCV_NONFREE_FOUND)
 ADD_SUBDIRECTORY( VocabularyComparison )

tools/KittiDataset/main.cpp

@@ -60,19 +60,31 @@ void showUsage()
 			"  --scan             Include velodyne scan in node's data.\n"
 			"  --scan_step #      Scan downsample step (default=10).\n"
 			"  --scan_voxel #.#   Scan voxel size (default 0.3 m).\n"
-			"  --scan_k           Scan normal K (default 20).\n"
+			"  --scan_k           Scan normal K (default 5).\n"
 			"  --scan_radius      Scan normal radius (default 0).\n"
 			"  --map_update  #    Do map update each X odometry frames (default=10, which\n"
 			"                        gives 1 Hz map update assuming images are at 10 Hz).\n\n"
 			"%s\n"
 			"Example:\n\n"
 			"   $ rtabmap-kitti_dataset \\\n"
-			"       --Vis/EstimationType 1\\\n"
 			"       --Vis/BundleAdjustment 1\\\n"
-			"       --Vis/PnPReprojError 1.5\\\n"
+			"       --Vis/PnPRefineIterations 0\\\n"
+			"       --Vis/MaxFeatures 1800\\\n"
+			"       --Vis/BundleAdjustment 1\\\n"
+			"       --Vis/Iterations 300\\\n"
+			"       --GFTT/QualityLevel 0.01\\\n"
+			"       --GFTT/MinDistance 7\\\n"
 			"       --Odom/GuessMotion true\\\n"
 			"       --OdomF2M/BundleAdjustment 1\\\n"
+			"       --Mem/UseOdomFeatures true\\\n"
+			"       --Kp/DetectorStrategy true\\\n"
+			"       --Kp/MaxFeatures 900\\\n"
+			"       --Rtabmap/DetectionRate 2\\\n"
 			"       --Rtabmap/CreateIntermediateNodes true\\\n"
+			"       --RGBD/ProximityBySpace false\\\n"
+			"       --Stereo/MaxLevel 5\\\n"
+			"       --Stereo/MaxDisparity 256\\\n"
+			"       --Stereo/MinDisparity 0.5\\\n"
 			"       --gt \"~/KITTI/devkit/cpp/data/odometry/poses/07.txt\"\\\n"
 			"       ~/KITTI/dataset/sequences/07\n\n", rtabmap::Parameters::showUsage());
 	exit(1);
@@ -105,7 +117,7 @@ int main(int argc, char * argv[])
 	bool disp = false;
 	int scanStep = 10;
 	float scanVoxel = 0.3f;
-	int scanNormalK = 20;
+	int scanNormalK = 5;
 	float scanNormalRadius = 0.0f;
 	std::string gtPath;
 	bool quiet = false;
@@ -377,7 +389,7 @@ int main(int argc, char * argv[])
 
 		printf("Processing %d images...\n", totalImages);
 
-		OdometryF2M odom(parameters);
+		Odometry * odom = Odometry::create(parameters);
 		Rtabmap rtabmap;
 		rtabmap.init(parameters, databasePath);
 
@@ -408,7 +420,7 @@ int main(int argc, char * argv[])
 			externalStats.insert(std::make_pair("Camera/UndistortDepth/ms", cameraInfo.timeUndistortDepth*1000.0f));
 
 			OdometryInfo odomInfo;
-			Transform pose = odom.process(data, &odomInfo);
+			Transform pose = odom->process(data, &odomInfo);
 			externalStats.insert(std::make_pair("Odometry/LocalBundle/ms", odomInfo.localBundleTime*1000.0f));
 			externalStats.insert(std::make_pair("Odometry/LocalBundleConstraints/", odomInfo.localBundleConstraints));
 			externalStats.insert(std::make_pair("Odometry/LocalBundleOutliers/", odomInfo.localBundleOutliers));
@@ -433,14 +445,10 @@ int main(int argc, char * argv[])
 				data.setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());// remove features
 				processData = intermediateNodes;
 			}
-			if(covariance.empty())
+			if(covariance.empty() || odomInfo.reg.covariance.at<double>(0,0) > covariance.at<double>(0,0))
 			{
 				covariance = odomInfo.reg.covariance;
 			}
-			else
-			{
-				covariance += odomInfo.reg.covariance;
-			}
 
 			timer.restart();
 			if(processData)
@@ -463,8 +471,8 @@ int main(int argc, char * argv[])
 
 				if(rmse >= 0.0f)
 				{
-					printf("Iteration %d/%d: speed=%dkm/h camera=%dms, odom(quality=%d/%d)=%dms, slam=%dms, rmse=%fm",
-							iteration, totalImages, int(speed), int(cameraInfo.timeTotal*1000.0f), odomInfo.reg.inliers, odomInfo.features, int(odomInfo.timeEstimation*1000.0f), int(slamTime*1000.0f), rmse);
+					printf("Iteration %d/%d: speed=%dkm/h camera=%dms, odom(quality=%d/%d)=%dms, slam=%dms, rmse=%fm, stddev=%fm %frad",
+							iteration, totalImages, int(speed), int(cameraInfo.timeTotal*1000.0f), odomInfo.reg.inliers, odomInfo.features, int(odomInfo.timeEstimation*1000.0f), int(slamTime*1000.0f), rmse, sqrt(odomInfo.reg.covariance.at<double>(0,0)), sqrt(odomInfo.reg.covariance.at<double>(3,3)));
 				}
 				else
 				{
@@ -487,13 +495,14 @@ int main(int argc, char * argv[])
 			timer.restart();
 			data = cameraThread.camera()->takeImage(&cameraInfo);
 		}
+		delete odom;
 		printf("Total time=%fs\n", totalTime.ticks());
 		/////////////////////////////
 		// Processing dataset end
 		/////////////////////////////
 
 		// Save trajectory
-		printf("Saving rtabmap_trajectory.txt ...\n");
+		printf("Saving trajectory ...\n");
 		std::map<int, Transform> poses;
 		std::multimap<int, Link> links;
 		rtabmap.getGraph(poses, links, true, true);
@@ -575,6 +584,8 @@ int main(int argc, char * argv[])
 				UERROR("could not save RMSE results to \"%s\"", pathErrors.c_str());
 			}
 			fprintf(pFile, "Ground truth comparison:\n");
+			fprintf(pFile, "  KITTI t_err =         %f %%\n", t_err);
+			fprintf(pFile, "  KITTI r_err =         %f deg/m\n", r_err);
 			fprintf(pFile, "  translational_rmse=   %f\n", translational_rmse);
 			fprintf(pFile, "  translational_mean=   %f\n", translational_mean);
 			fprintf(pFile, "  translational_median= %f\n", translational_median);

tools/Report/CMakeLists.txt

@@ -0,0 +1,36 @@
+cmake_minimum_required(VERSION 2.8)
+
+# inside rtabmap project (see below for external build)
+SET(RTABMap_INCLUDE_DIRS 
+    ${PROJECT_SOURCE_DIR}/utilite/include
+	${PROJECT_SOURCE_DIR}/corelib/include
+)
+SET(RTABMap_LIBRARIES 
+    rtabmap_core
+	rtabmap_utilite
+)  
+	
+if(POLICY CMP0020)
+	cmake_policy(SET CMP0020 OLD)
+endif()
+
+SET(INCLUDE_DIRS
+	${RTABMap_INCLUDE_DIRS}
+    ${OpenCV_INCLUDE_DIRS}
+    ${PCL_INCLUDE_DIRS}
+)
+
+SET(LIBRARIES
+	${RTABMap_LIBRARIES}
+	${OpenCV_LIBRARIES}
+	${PCL_LIBRARIES}
+)
+
+INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
+
+ADD_EXECUTABLE(report main.cpp)
+  
+TARGET_LINK_LIBRARIES(report ${LIBRARIES})
+
+SET_TARGET_PROPERTIES( report 
+    PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-report)

tools/Report/main.cpp

@@ -0,0 +1,142 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include <rtabmap/core/DBDriver.h>
+#include <rtabmap/utilite/UDirectory.h>
+#include <rtabmap/utilite/UFile.h>
+#include <rtabmap/utilite/UStl.h>
+#include <rtabmap/utilite/UMath.h>
+#include <stdio.h>
+
+using namespace rtabmap;
+
+void showUsage()
+{
+	printf("\nUsage:\n"
+			"rtabmap-report path\n"
+			"  path               Directory containing rtabmap databases.\n\n");
+	exit(1);
+}
+
+int main(int argc, char * argv[])
+{
+	if(argc < 2)
+	{
+		showUsage();
+	}
+
+	std::string path = argv[1];
+	path = uReplaceChar(path, '~', UDirectory::homeDir());
+
+	std::string fileName;
+	std::list<std::string> paths;
+	paths.push_back(path);
+	while(paths.size())
+	{
+		std::string currentPath = paths.front();
+		UDirectory currentDir(currentPath);
+		paths.pop_front();
+		if(!currentDir.isValid())
+		{
+			continue;
+		}
+		std::list<std::string> subDirs;
+		printf("Directory: %s\n", currentPath.c_str());
+		while(!(fileName = currentDir.getNextFileName()).empty())
+		{
+			if(UFile::getExtension(fileName).compare("db") == 0)
+			{
+				std::string filePath = currentPath + UDirectory::separator() + fileName;
+				DBDriver * driver = DBDriver::create();
+				if(driver->openConnection(filePath))
+				{
+					std::set<int> ids;
+					driver->getAllNodeIds(ids);
+					std::map<int, std::pair<std::map<std::string, float>, double> > stats = driver->getAllStatistics();
+					std::vector<float> cameraTime;
+					cameraTime.reserve(ids.size());
+					std::vector<float> odomTime;
+					odomTime.reserve(ids.size());
+					std::vector<float> slamTime;
+					slamTime.reserve(ids.size());
+					float rmse = -1;
+					for(std::set<int>::iterator iter=ids.begin(); iter!=ids.end(); ++iter)
+					{
+						Transform p, gt;
+						GPS gps;
+						int m, w;
+						std::string l;
+						double s;
+						std::vector<float> v;
+						driver->getNodeInfo(*iter, p, m, w, l, s, gt, v, gps);
+
+						if(uContains(stats, *iter))
+						{
+							const std::map<std::string, float> & stat = stats.at(*iter).first;
+							if(uContains(stat, Statistics::kGtTranslational_rmse()))
+							{
+								rmse = stat.at(Statistics::kGtTranslational_rmse());
+							}
+							if(uContains(stat, std::string("Camera/TotalTime/ms")))
+							{
+								cameraTime.push_back(stat.at(std::string("Camera/TotalTime/ms")));
+							}
+							if(uContains(stat, std::string("Odometry/TotalTime/ms")))
+							{
+								odomTime.push_back(stat.at(std::string("Odometry/TotalTime/ms")));
+							}
+							if(w >= 0 && uContains(stat, Statistics::kTimingTotal()))
+							{
+								slamTime.push_back(stat.at(Statistics::kTimingTotal()));
+							}
+						}
+					}
+					printf("   %s (%d): %fm, slam: avg=%dms max=%dms, odom: avg=%dms max=%dms, camera: avg=%dms max=%dms\n",
+							fileName.c_str(),
+							(int)ids.size(),
+							rmse,
+							(int)uMean(slamTime), (int)uMax(slamTime),
+							(int)uMean(odomTime), (int)uMax(odomTime),
+							(int)uMean(cameraTime), (int)uMax(cameraTime));
+				}
+				driver->closeConnection();
+				delete driver;
+			}
+			else if(uSplit(fileName, '.').size() == 1)
+			{
+				//sub directory
+				subDirs.push_front(currentPath + UDirectory::separator() + fileName);
+			}
+		}
+		for(std::list<std::string>::iterator iter=subDirs.begin(); iter!=subDirs.end(); ++iter)
+		{
+			paths.push_front(*iter);
+		}
+	}
+
+	return 0;
+}

tools/RgbdDataset/main.cpp

@@ -59,13 +59,20 @@ void showUsage()
 			"%s\n"
 			"Example:\n\n"
 			"   $ rtabmap-rgbd_dataset \\\n"
-			"       --Vis/EstimationType 1\\\n"
 			"       --Vis/BundleAdjustment 1\\\n"
-			"       --Vis/PnPReprojError 1.5\\\n"
+			"       --Vis/PnPRefineIterations 0\\\n"
+			"       --Vis/BundleAdjustment 1\\\n"
+			"       --Vis/Iterations 300\\\n"
+			"       --GFTT/QualityLevel 0.001\\\n"
+			"       --GFTT/MinDistance 3\\\n"
 			"       --Odom/GuessMotion true\\\n"
 			"       --OdomF2M/BundleAdjustment 1\\\n"
+			"       --Mem/UseOdomFeatures true\\\n"
+			"       --Kp/DetectorStrategy true\\\n"
+			"       --Kp/MaxFeatures 600\\\n"
+			"       --Rtabmap/DetectionRate 4\\\n"
 			"       --Rtabmap/CreateIntermediateNodes true\\\n"
-			"       --Rtabmap/DetectionRate 1\\\n"
+			"       --RGBD/ProximityBySpace false\\\n"
 			"       ~/rgbd_dataset_freiburg3_long_office_household\n\n", rtabmap::Parameters::showUsage());
 	exit(1);
 }
@@ -123,6 +130,7 @@ int main(int argc, char * argv[])
 		}
 	}
 
+	std::string seq = uSplit(path, '/').back();
 	std::string pathRgbImages  = path+"/rgb_sync";
 	std::string pathDepthImages = path+"/depth_sync";
 	std::string pathGt = path+"/groundtruth.txt";
@@ -138,10 +146,12 @@ int main(int argc, char * argv[])
 	}
 
 	printf("Paths:\n"
+			"   Dataset name:    %s\n"
 			"   Dataset path:    %s\n"
 			"   RGB path:        %s\n"
 			"   Depth path:      %s\n"
 			"   Output:          %s\n",
+			seq.c_str(),
 			path.c_str(),
 			pathRgbImages.c_str(),
 			pathDepthImages.c_str(),
@@ -172,13 +182,14 @@ int main(int argc, char * argv[])
 	else if(sequenceName.find("freiburg2") != std::string::npos)
 	{
 		model = CameraModel("rtabmap_calib", 520.9, 521.0, 325.1, 249.7, opticalRotation, 0, cv::Size(640,480));
-		depthFactor = 5.208f;
+		depthFactor = 5.208f; // based on TUM2.yaml ORB_SLAM2 file
 	}
 	else //if(sequenceName.find("freiburg3") != std::string::npos)
 	{
 		model = CameraModel("rtabmap_calib", 535.4, 539.2, 320.1, 247.6, opticalRotation, 0, cv::Size(640,480));
 	}
-	model.save(output);
+	//parameters.insert(ParametersPair(Parameters::kg2oBaseline(), uNumber2Str(40.0f/model.fx())));
+	model.save(path);
 
 	CameraThread cameraThread(new
 		CameraRGBDImages(
@@ -197,15 +208,15 @@ int main(int argc, char * argv[])
 	float detectionRate = Parameters::defaultRtabmapDetectionRate();
 	Parameters::parse(parameters, Parameters::kRtabmapCreateIntermediateNodes(), intermediateNodes);
 	Parameters::parse(parameters, Parameters::kRtabmapDetectionRate(), detectionRate);
-	std::string databasePath = output+"/rtabmap.db";
+	std::string databasePath = output+"/"+seq+".db";
 	UFile::erase(databasePath);
-	if(cameraThread.camera()->init(output, "rtabmap_calib"))
+	if(cameraThread.camera()->init(path, "rtabmap_calib"))
 	{
 		int totalImages = (int)((CameraRGBDImages*)cameraThread.camera())->filenames().size();
 
 		printf("Processing %d images...\n", totalImages);
 
-		OdometryF2M odom(parameters);
+		Odometry * odom = Odometry::create(parameters);
 		Rtabmap rtabmap;
 		rtabmap.init(parameters, databasePath);
 
@@ -237,11 +248,18 @@ int main(int argc, char * argv[])
 			externalStats.insert(std::make_pair("Camera/UndistortDepth/ms", cameraInfo.timeUndistortDepth*1000.0f));
 
 			OdometryInfo odomInfo;
-			Transform pose = odom.process(data, &odomInfo);
+			Transform pose = odom->process(data, &odomInfo);
 			externalStats.insert(std::make_pair("Odometry/LocalBundle/ms", odomInfo.localBundleTime*1000.0f));
+			externalStats.insert(std::make_pair("Odometry/LocalBundleConstraints/", odomInfo.localBundleConstraints));
+			externalStats.insert(std::make_pair("Odometry/LocalBundleOutliers/", odomInfo.localBundleOutliers));
 			externalStats.insert(std::make_pair("Odometry/TotalTime/ms", odomInfo.timeEstimation*1000.0f));
 			externalStats.insert(std::make_pair("Odometry/Inliers/", odomInfo.reg.inliers));
 			externalStats.insert(std::make_pair("Odometry/Features/", odomInfo.features));
+			externalStats.insert(std::make_pair("Odometry/DistanceTravelled/m", odomInfo.distanceTravelled));
+			externalStats.insert(std::make_pair("Odometry/KeyFrameAdded/", odomInfo.keyFrameAdded));
+			externalStats.insert(std::make_pair("Odometry/LocalKeyFrames/", odomInfo.localKeyFrames));
+			externalStats.insert(std::make_pair("Odometry/LocalMapSize/", odomInfo.localMapSize));
+			externalStats.insert(std::make_pair("Odometry/LocalScanMapSize/", odomInfo.localScanMapSize));
 
 			bool processData = true;
 			if(detectionRate>0.0f &&
@@ -263,14 +281,10 @@ int main(int argc, char * argv[])
 				data.setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());// remove features
 				processData = intermediateNodes;
 			}
-			if(covariance.empty())
+			if(covariance.empty() || odomInfo.reg.covariance.at<double>(0,0) > covariance.at<double>(0,0))
 			{
 				covariance = odomInfo.reg.covariance;
 			}
-			else
-			{
-				covariance += odomInfo.reg.covariance;
-			}
 
 			timer.restart();
 			if(processData)
@@ -293,8 +307,8 @@ int main(int argc, char * argv[])
 
 				if(rmse >= 0.0f)
 				{
-					printf("Iteration %d/%d: camera=%dms, odom(quality=%d/%d)=%dms, slam=%dms, rmse=%fm",
-							iteration, totalImages, int(cameraInfo.timeTotal*1000.0f), odomInfo.reg.inliers, odomInfo.features, int(odomInfo.timeEstimation*1000.0f), int(slamTime*1000.0f), rmse);
+					printf("Iteration %d/%d: camera=%dms, odom(quality=%d/%d)=%dms, slam=%dms, rmse=%fm, stddev=%fm %frad",
+							iteration, totalImages, int(cameraInfo.timeTotal*1000.0f), odomInfo.reg.inliers, odomInfo.features, int(odomInfo.timeEstimation*1000.0f), int(slamTime*1000.0f), rmse, sqrt(odomInfo.reg.covariance.at<double>(0,0)), sqrt(odomInfo.reg.covariance.at<double>(3,3)));
 				}
 				else
 				{
@@ -317,18 +331,25 @@ int main(int argc, char * argv[])
 			timer.restart();
 			data = cameraThread.camera()->takeImage(&cameraInfo);
 		}
+		delete odom;
 		printf("Total time=%fs\n", totalTime.ticks());
 		/////////////////////////////
 		// Processing dataset end
 		/////////////////////////////
 
 		// Save trajectory
-		printf("Saving rtabmap_trajectory.txt ...\n");
+		printf("Saving trajectory...\n");
 		std::map<int, Transform> poses;
 		std::multimap<int, Link> links;
-		rtabmap.getGraph(poses, links, true, true);
-		std::string pathTrajectory = output+"/rtabmap_poses.txt";
-		if(poses.size() && graph::exportPoses(pathTrajectory, 2, poses, links))
+		std::map<int, Signature> signatures;
+		std::map<int, double> stamps;
+		rtabmap.getGraph(poses, links, true, true, &signatures);
+		for(std::map<int, Signature>::iterator iter=signatures.begin(); iter!=signatures.end(); ++iter)
+		{
+			stamps.insert(std::make_pair(iter->first, iter->second.getStamp()));
+		}
+		std::string pathTrajectory = output+"/"+seq+"_poses.txt";
+		if(poses.size() && graph::exportPoses(pathTrajectory, 1, poses, links, stamps))
 		{
 			printf("Saving %s... done!\n", pathTrajectory.c_str());
 		}
@@ -357,14 +378,7 @@ int main(int argc, char * argv[])
 				}
 			}
 
-			// compute KITTI statistics
-			float t_err = 0.0f;
-			float r_err = 0.0f;
-			graph::calcKittiSequenceErrors(uValues(groundTruth), uValues(poses), t_err, r_err);
-			printf("Ground truth comparison:\n");
-			printf("   KITTI t_err = %f %%\n", t_err);
-			printf("   KITTI r_err = %f deg/m\n", r_err);
-
+
 			// compute RMSE statistics
 			float translational_rmse = 0.0f;
 			float translational_mean = 0.0f;
@@ -398,7 +412,7 @@ int main(int argc, char * argv[])
 			printf("   rotational_rmse=      %f deg\n", rotational_rmse);
 
 			FILE * pFile = 0;
-			std::string pathErrors = output+"/rtabmap_rmse.txt";
+			std::string pathErrors = output+"/"+seq+"_rmse.txt";
 			pFile = fopen(pathErrors.c_str(),"w");
 			if(!pFile)
 			{
@@ -425,9 +439,9 @@ int main(int argc, char * argv[])
 		UERROR("Camera init failed!");
 	}
 
-	printf("Saving rtabmap database (with all statistics) to \"%s\"\n", (output+"/rtabmap.db").c_str());
+	printf("Saving rtabmap database (with all statistics) to \"%s\"\n", (output+"/"+seq+".db").c_str());
 	printf("Do:\n"
-			" $ rtabmap-databaseViewer %s\n\n", (output+"/rtabmap.db").c_str());
+			" $ rtabmap-databaseViewer %s\n\n", (output+"/"+seq+".db").c_str());
 
 	return 0;
 }