fr2_large_no_loop.sh

#!/usr/bin/env bash

#
# Created by necusjz on 17/07/2018.
#

# Run test dataset
./bin/rgbd_tum Vocabulary/ORBvoc.bin test/TUM2.yaml Dataset/rgbd_dataset_freiburg2_large_no_loop test/associations/fr2_large_no_loop.txt

# Convert *.pcd to *.ot
./tools/pcd2octomap map.pcd map.ot

# Plot estimated difference
./tools/evaluate_ate.py Dataset/rgbd_dataset_freiburg2_large_no_loop/groundtruth.txt CameraTrajectory.txt --plot result.png

# Print all results
./tools/evaluate_ate.py Dataset/rgbd_dataset_freiburg2_large_no_loop/groundtruth.txt CameraTrajectory.txt --verbose