v2

tum_vi/dataset-corridor4_512_16/kf_dataset-corridor4_512_16_mono_orb_slam3.txt

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tum_vi/dataset-corridor4_512_16/orb_slam3_raw_mono_errors.txt

@@ -1,2 +1,2 @@
-RMSError using scaling parameter: 0.7255444017773809 m.
-RMSError without scaling parameter: 0.7306660443839946 m.
+RMSError using scaling parameter: 0.7037426134104041 m.
+RMSError without scaling parameter: 1.2350518553658483 m.

tum_vi/dataset-magistrale5_512_16/orb_slam3_raw_mono_errors.txt

@@ -1,2 +1,2 @@
-RMSError using scaling parameter: 0.9467889885673086 m.
-RMSError without scaling parameter: 0.954134136027775 m.
+RMSError using scaling parameter: 0.9760727697176834 m.
+RMSError without scaling parameter: 3.631218164394461 m.

tum_vi/dataset-outdoors2_512_16/orb_slam3_raw_mono_errors.txt

@@ -1,2 +1,2 @@
-RMSError using scaling parameter: 0.8116295780048978 m.
-RMSError without scaling parameter: 0.8132487555592028 m.
+RMSError using scaling parameter: 0.858206801031308 m.
+RMSError without scaling parameter: 18.07741672697121 m.

tum_vi/dataset-outdoors4_512_16/orb_slam3_raw_mono_errors.txt

@@ -1,2 +1,2 @@
-RMSError using scaling parameter: 0.789034673613864 m.
-RMSError without scaling parameter: 0.8196090009033936 m.
+RMSError using scaling parameter: 0.8053209771554996 m.
+RMSError without scaling parameter: 22.95478181503976 m.

tum_vi/dataset-room1_512_16/kf_dataset-room1_512_16_mono_orb_slam3.txt

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tum_vi/dataset-room1_512_16/orb_slam3_mono_errors.txt

@@ -0,0 +1,2 @@
+RMSError using scaling parameter: 0.3200183197747543 m.
+RMSError without scaling parameter: 0.9990597156008401 m.

tum_vi/dataset-room1_512_16/orb_slam3_monoi_errors.txt

@@ -0,0 +1,2 @@
+RMSError using scaling parameter: 0.1891938826663816 m.
+RMSError without scaling parameter: 0.19846855891826665 m.

tum_vi/dataset-room2_512_16/kf_dataset-room2_512_16_mono_orb_slam3.txt

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tum_vi/dataset-room2_512_16/orb_slam3_mono_errors.txt

@@ -0,0 +1,2 @@
+RMSError using scaling parameter: 0.7425479503070882 m.
+RMSError without scaling parameter: 1.1957714946221405 m.

tum_vi/dataset-room3_512_16/kf_dataset-room3_512_16_mono_orb_slam3.txt

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tum_vi/dataset-room3_512_16/orb_slam3_errors_Atlas-.txt

@@ -1,2 +0,0 @@
-RMSError using scaling parameter: 0.13871087140080846 m.
-RMSError without scaling parameter: 1.0269982867698852 m.

tum_vi/dataset-room3_512_16/orb_slam3_mono_errors_Atlas+.txt

@@ -1,2 +0,0 @@
-RMSError using scaling parameter: 0.12578308177292605 m.
-RMSError without scaling parameter: 1.2342704558499278 m.

tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/kf_dataset-room3_512_16_mono_orb_slam3.txt

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tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_mono_errors.txt

@@ -1,2 +1,2 @@
-RMSError using scaling parameter: 0.13871087140080846 m.
-RMSError without scaling parameter: 1.0269982867698852 m.
+RMSError using scaling parameter: 0.09649644147617925 m.
+RMSError without scaling parameter: 1.069281604480391 m.

tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_raw2_mono_errors.txt

@@ -0,0 +1,2 @@
+RMSError using scaling parameter: 0.6760302752298168 m.
+RMSError without scaling parameter: 1.1219396363397824 m.

tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_raw_mono_errors.txt

@@ -1,2 +1,2 @@
-RMSError using scaling parameter: 0.6797917558458291 m.
-RMSError without scaling parameter: 1.0977085013673655 m.
+RMSError using scaling parameter: 0.18288081804167958 m.
+RMSError without scaling parameter: 1.0695741511409924 m.

tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/kf_dataset-room3_512_16_monoi_orb_slam3.txt

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tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/orb_slam3_monoi_errors.txt

@@ -1,2 +1,2 @@
-RMSError using scaling parameter: 0.01311947062996324 m.
-RMSError without scaling parameter: 0.01512955363974755 m.
+RMSError using scaling parameter: 0.02716352972394891 m.
+RMSError without scaling parameter: 0.04369423752741959 m.

tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/orb_slam3_raw_monoi_errors.txt

@@ -1,2 +1,2 @@
-RMSError using scaling parameter: 0.6224105681907838 m.
-RMSError without scaling parameter: 0.6755599812382672 m.
+RMSError using scaling parameter: 0.17422898980987817 m.
+RMSError without scaling parameter: 0.20159510652075993 m.

tum_vi/dataset-room3_512_16/orb_slam3_raw2_atlas_mono_errors.txt

@@ -0,0 +1,2 @@
+RMSError using scaling parameter: 0.9645633795148952 m.
+RMSError without scaling parameter: 1.2457310875054837 m.

tum_vi/dataset-room3_512_16/orb_slam3_raw_atlas_mono_errors.txt

@@ -0,0 +1,2 @@
+RMSError using scaling parameter: 0.1016709203508703 m.
+RMSError without scaling parameter: 1.2337550090812648 m.

tum_vi/dataset-room3_512_16/orb_slam3_raw_mono_errors_Atlas+.txt

@@ -1,2 +0,0 @@
-RMSError using scaling parameter: 0.9755291616652519 m.
-RMSError without scaling parameter: 1.2478255190645933 m.

tum_vi/orb_slam3_tum_vi_mono_examples.sh

@@ -69,4 +69,5 @@ echo "Launching $DATASET with Monocular sensor"
 mv "f_${DATASET}_mono.txt" "$DATASET"/"f_${DATASET}_mono_orb_slam3.txt"
 mv "kf_${DATASET}_mono.txt" "$DATASET"/"kf_${DATASET}_mono_orb_slam3.txt"
 mv "f_ ${DATASET}_mono_raw.txt" "$DATASET"/"f_${DATASET}_mono_orb_slam3_raw.txt"
+mv "f_ ${DATASET}_mono_raw2.txt" "$DATASET"/"f_${DATASET}_mono_orb_slam3_raw2.txt"
 mv "$ATLAS_NAME" "$DATASET/$ATLAS_NAME"