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fixed optimization error ratio bug where comparison was done using not highest ratio link but on highest abs error link instead.

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This commit is contained in:
matlabbe
2018-07-20 15:11:46 -04:00
parent 173bd49a26
commit e95cabb1fc
4 changed files with 73 additions and 8 deletions
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tools/EurocDataset/main.cpp
+25 -3
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@@ -338,7 +338,7 @@ int main(int argc, char * argv[])
printf("MH_01_easy detected with MSCFK odometry, ignoring first moving 440 images...\n");
((CameraStereoImages*)cameraThread.camera())->setStartIndex(440);
}
else if(seq.compare("MH_01_easy") == 0)
else if(seq.compare("MH_02_easy") == 0)
{
printf("MH_02_easy detected with MSCFK odometry, ignoring first moving 525 images...\n");
((CameraStereoImages*)cameraThread.camera())->setStartIndex(525);
@@ -573,9 +573,12 @@ int main(int argc, char * argv[])
// Save trajectory
printf("Saving trajectory ...\n");
std::map<int, Transform> poses;
std::map<int, Transform> vo_poses;
std::multimap<int, Link> links;
std::map<int, Signature> signatures;
std::map<int, double> stamps;
rtabmap.getGraph(vo_poses, links, false, true);
links.clear();
rtabmap.getGraph(poses, links, true, true, &signatures);
for(std::map<int, Signature>::iterator iter=signatures.begin(); iter!=signatures.end(); ++iter)
{
@@ -624,6 +627,25 @@ int main(int argc, char * argv[])
float rotational_std = 0.0f;
float rotational_min = 0.0f;
float rotational_max = 0.0f;
// vo performance
graph::calcRMSE(
groundTruth,
vo_poses,
translational_rmse,
translational_mean,
translational_median,
translational_std,
translational_min,
translational_max,
rotational_rmse,
rotational_mean,
rotational_median,
rotational_std,
rotational_min,
rotational_max);
float translational_rmse_vo = translational_rmse;
float rotational_rmse_vo = rotational_rmse;
// SLAM performance
graph::calcRMSE(
groundTruth,
poses,
@@ -640,8 +662,8 @@ int main(int argc, char * argv[])
rotational_min,
rotational_max);
printf(" translational_rmse= %f m\n", translational_rmse);
printf(" rotational_rmse= %f deg\n", rotational_rmse);
printf(" translational_rmse= %f m (vo = %f m)\n", translational_rmse, translational_rmse_vo);
printf(" rotational_rmse= %f deg (vo = %f def)\n", rotational_rmse, rotational_rmse_vo);
FILE * pFile = 0;
std::string pathErrors = output+"/"+outputName+"_rmse.txt";