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Ivan
2022-05-27 09:55:06 +03:00
parent ab9d3aa39d
commit 6c1ecd7cff
89 changed files with 163824 additions and 140741 deletions
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mono-kitti/demo/06_seq/merger/kitti_out/output.mp4
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tum_vi/dataset-corridor4_512_16/f_dataset-corridor4_512_16_mono_orb_slam3.txt
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tum_vi/dataset-corridor4_512_16/kf_dataset-corridor4_512_16_mono_orb_slam3.txt
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RMSError using scaling parameter: 0.7255444017773809 m. RMSError using scaling parameter: 0.7037426134104041 m.
RMSError without scaling parameter: 0.7306660443839946 m. RMSError without scaling parameter: 1.2350518553658483 m.

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RMSError using scaling parameter: 0.9467889885673086 m. RMSError using scaling parameter: 0.9760727697176834 m.
RMSError without scaling parameter: 0.954134136027775 m. RMSError without scaling parameter: 3.631218164394461 m.

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RMSError without scaling parameter: 0.8132487555592028 m. RMSError without scaling parameter: 18.07741672697121 m.

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RMSError using scaling parameter: 0.789034673613864 m. RMSError using scaling parameter: 0.8053209771554996 m.
RMSError without scaling parameter: 0.8196090009033936 m. RMSError without scaling parameter: 22.95478181503976 m.

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tum_vi/dataset-room1_512_16/orb_slam3_mono_errors.txt Normal file
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RMSError using scaling parameter: 0.3200183197747543 m.
RMSError without scaling parameter: 0.9990597156008401 m.

2
tum_vi/dataset-room1_512_16/orb_slam3_monoi_errors.txt Normal file
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RMSError using scaling parameter: 0.1891938826663816 m.
RMSError without scaling parameter: 0.19846855891826665 m.

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tum_vi/dataset-room2_512_16/f_dataset-room2_512_16_mono_orb_slam3.txt
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tum_vi/dataset-room2_512_16/f_dataset-room2_512_16_mono_orb_slam3_offline.txt Normal file
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tum_vi/dataset-room2_512_16/kf_dataset-room2_512_16_mono_orb_slam3.txt
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RMSError without scaling parameter: 1.1957714946221405 m.

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tum_vi/dataset-room3_512_16/kf_dataset-room3_512_16_monoi_orb_slam3.txt
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RMSError using scaling parameter: 0.13871087140080846 m. RMSError using scaling parameter: 0.09649644147617925 m.
RMSError without scaling parameter: 1.0269982867698852 m. RMSError without scaling parameter: 1.069281604480391 m.

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RMSError using scaling parameter: 0.6760302752298168 m.
RMSError without scaling parameter: 1.1219396363397824 m.

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RMSError using scaling parameter: 0.6797917558458291 m. RMSError using scaling parameter: 0.18288081804167958 m.
RMSError without scaling parameter: 1.0977085013673655 m. RMSError without scaling parameter: 1.0695741511409924 m.

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1520531101854597888.000000 1.249449492 -1.323452950 0.020141639 0.040723242 0.015748339 0.195700511 0.979691267 1520531100104682752.000000 0.569457114 -1.191550016 0.030854169 0.030769819 0.013820478 -0.229513288 0.972720802
1520531102354873600.000000 1.101818681 -1.386629343 0.008354433 0.031109555 0.021771934 0.187854767 0.981462598 1520531100604714240.000000 0.874880135 -1.364328146 0.136990041 -0.005646012 0.028076937 0.190215975 -0.981324494
1520531102904974336.000000 1.100847840 -1.402806997 -0.001107313 0.033959769 0.004175476 0.204461351 0.978276432 1520531101204531712.000000 0.986999869 -1.402970791 0.151000589 0.010577131 0.031295992 0.140287653 -0.989559591
1520531103454973952.000000 1.116801500 -1.402202725 -0.009938620 0.037681550 -0.000730946 0.214097813 0.976084948 1520531101754594816.000000 0.725231051 -1.282740951 0.062724352 0.033809423 -0.008237761 -0.198365450 0.979510128
1520531102304871424.000000 0.524594665 -1.189554811 0.035845295 0.040243957 0.008373876 -0.215905473 0.975548625
1520531102854973184.000000 0.502935469 -1.195239186 0.026583720 0.035073783 -0.010128332 -0.199886188 0.979138851
1520531103404973056.000000 0.514127731 -1.205014586 0.019108932 0.034843870 -0.014149687 -0.189885288 0.981085777

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tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/orb_slam3_monoi_errors.txt
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RMSError using scaling parameter: 0.01311947062996324 m. RMSError using scaling parameter: 0.02716352972394891 m.
RMSError without scaling parameter: 0.01512955363974755 m. RMSError without scaling parameter: 0.04369423752741959 m.

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RMSError using scaling parameter: 0.6224105681907838 m. RMSError using scaling parameter: 0.17422898980987817 m.
RMSError without scaling parameter: 0.6755599812382672 m. RMSError without scaling parameter: 0.20159510652075993 m.

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RMSError using scaling parameter: 0.9645633795148952 m.
RMSError without scaling parameter: 1.2457310875054837 m.

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RMSError using scaling parameter: 0.1016709203508703 m.
RMSError without scaling parameter: 1.2337550090812648 m.

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tum_vi/dataset-room3_512_16/orb_slam3_raw_mono_errors_Atlas+.txt
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RMSError using scaling parameter: 0.9755291616652519 m.
RMSError without scaling parameter: 1.2478255190645933 m.

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tum_vi/orb_slam3_tum_vi_mono_examples.sh
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@@ -69,4 +69,5 @@ echo "Launching $DATASET with Monocular sensor"
mv "f_${DATASET}_mono.txt" "$DATASET"/"f_${DATASET}_mono_orb_slam3.txt" 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 "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_ ${DATASET}_mono_raw.txt" "$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" mv "$ATLAS_NAME" "$DATASET/$ATLAS_NAME"