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This pull request includes a couple of changes making it possible to run DSM on the TUM-VI dataset. For details see the commit messages.
I also added a python script
Examples/TUMVIData/tum-vi_run_all.py
that runs over many sequences and evaluates the RMS ATE. For this I also added anautorun
parameter to the EuRoC executable. If set DSM starts immediately and shuts down when finished.Running with
blockUntilMapped = false
is not possible, butblockUntilMapped = true
works on some sequences.I get the following results:
sequence name: median RMS ATE in m, fail count/ runs per sequence
room1: 0.260247, 1/3
room2: 0.051328, 0/3
room3: 1.322260, 1/3
room4: -, 3/3
room5: -, 3/3
room6: 0.073767, 0/3
Result on room 1: