Evaluate orbslam3 on RGB TUM dataset

How to evaluate TUM RGB dataset in orbslam3

Download the TUM dataset according to your need, here we are using freiburg3_walking_xyz

[embed]Evaluate orbslam3 on RGBD TUM dataset How to evaluate TUM RGBD dataset in orbslam3medium.com

first method:

./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM3.yaml rgbd_dataset_freiburg3_walking_xyz

Second using ROS

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/sajid/SLAM3_Imp/Examples_old/ROS

rosrun ORB_SLAM3 Mono Vocabulary/ORBvoc.txt Examples/Monocular/TUM3.yaml

run rosbag

rosbag play rgbd_dataset_freiburg3_walking_xyz.bag

Get the graph

python3 evaluate_ate.py groundtruth.txt KeyFrameTrajectory.txt --plot result_ate.png