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Merge branch 'master' of https://github.com/uzh-rpg/rpg_svo

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Christian Forster
2014-06-11 17:42:06 +02:00
parent ab867a3047 a06169aead
commit ac79793806
1 changed files with 2 additions and 27 deletions
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@@ -14,39 +14,14 @@ Source your new `.bashrc` script, go to the new dataset folder and download the
source `~/.bashrc` source `~/.bashrc`
cd ${SVO_DATASET_DIR} cd ${SVO_DATASET_DIR}
wget http://rpg.ifi.uzh.ch/datasets/flying_room_1_rig_1.tar.gz -O - | tar -xz wget http://rpg.ifi.uzh.ch/datasets/sin2_tex2_h1_v8_d.tar.gz -O - | tar -xz
TODO: replace this dataset with new ones.
#### Run Benchmark #### Run Benchmark
In the _CMakeLists.txt_ of SVO you need to set the `TRACE` flag to `TRUE` and recompile SVO. In the _CMakeLists.txt_ of SVO you need to set the `TRACE` flag to `TRUE` and recompile SVO.
Afterwards run Afterwards run
rosrun svo_analysis benchmark.py flying_room_1_fast rosrun svo_analysis benchmark.py sin2_tex2_h1_v8_d
The script will create a new folder in `svo_analysis/results/`, run svo on the dataset and save the tracefile in this folder and at the end it will run some scripts to generate plots from the tracefile. The script will create a new folder in `svo_analysis/results/`, run svo on the dataset and save the tracefile in this folder and at the end it will run some scripts to generate plots from the tracefile.
#### Dataset file
A dataset with motion-capture-system ground-truth should contain the following files
* _images.txt_
# timestamp img/imagename
1329330952.725747585296631 img/00000.png
1329330952.765715122222900 img/00001.png
1329330952.805604219436646 img/00002.png
...
* _groundtruth.txt_: groundtruth poses as acquired from a motion capture system
# timestamp tx ty tz qx qy qz qw
* _groundtruth_matched.txt_: the groundtruth pose associated to the images in images.txt. This file can be generated by the command:
cd my_dataset
rosrun svo_analysis associate.py images.txt groundtruth.txt