Evaluation of open-source SLAM packages
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README.md

Visual SLAM evaluation code

Code for the evaluation of open-source visual-odometry/SLAM systems I wrote about in my blog. You'll need to install the packages separately, as this repo only contains the configurations and ROS launch file needed to reproduce my results.

Remember that all of these packages greatly benefit from compiler optimization, and need the appropriate CMake flags when building:

catkin build package --cmake-args -DCMAKE_BUILD_TYPE=Release

Running

First, download the V1_01_easy.bag from the dataset page into your home folder. Each of the launch files will record its output into a new bag in the out folder:

roslaunch vslam_evaluation orbslam.launch
roslaunch vslam_evaluation rovio.launch
roslaunch vslam_evaluation viso2.launch

You can then run the plotting code (both Matplotlib and Plotly).