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Run on the TUM-VI dataset #19

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@hobbeshunter hobbeshunter commented Oct 15, 2020

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 an autorun parameter to the EuRoC executable. If set DSM starts immediately and shuts down when finished.

Running with blockUntilMapped = false is not possible, but blockUntilMapped = 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:

plot-room1

fixes jzubizarreta#9

If not set floating points will not be parsed correctly by atof
for e.g. Germans
Added support for OpenCV fisheye camera model
Added downsampling from 16bit to 8bit images
Added configuration files for TUM-VI room sequences
Add TUM-RGBD RMS ATE evaluation script
Add autorun paramter to EuRoC executable
Save trajectory to file in DSO format
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