test
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Disclaimer: These scripts are meant for the evaluation of my own research. They are publicized in the hope that they may be useful, and while I would expect you to be able to reproduce the published results, there is no guarantee that this will actually work, as the code is actively worked on and new stuff may break old things. To test rgbdslam download one or more bagfiles from the rgbd benchmark: http://vision.in.tum.de/data/datasets/rgbd-dataset/download and their according ground truth files into this directory. Then run ./run_tests.sh [TEST_NAME] This runs rgbdslam on the downloaded bag file(s) with the set of parameters specified in test_settings.launch plus some specified in run_tests.sh itself. In its original states, a comparison between different number of frame-to-frame matches will be performed. The results will be put in the directory [TEST_NAME]. If you omit the optional [TEST_NAME] the date will be chosen. The results will be displayed to the console. As an example, running the tests on the "desk" bagfiles would lead to output similar to that below. If you browse the output directory you can find the results. You can easily redisplay them by executing, e.g., rosrun rgbdslam summarize_evaluation.sh /SOMEPATH/emm__0.00/CANDIDATES_8/RANSAC_100/HellingerDistance_true/NN_0.9/OPT_SKIP_1000000/SIFTGPU/600_Features/ where you need to adapt the path accordingly. ############### EXAMPLE OUTPUT ############### ############### ############### ############### ############### ############### ############### ############### ############### ############### ############### ############### ############### ############### Evaluating SIFTGPU Will evaluate RGBD-SLAM on the following bagfiles: rgbd_dataset_freiburg1_360.bag rgbd_dataset_freiburg1_desk2.bag rgbd_dataset_freiburg1_desk.bag rgbd_dataset_freiburg1_floor.bag rgbd_dataset_freiburg1_plant.bag rgbd_dataset_freiburg1_room.bag rgbd_dataset_freiburg1_rpy.bag rgbd_dataset_freiburg1_teddy.bag rgbd_dataset_freiburg1_xyz.bag rgbd_dataset_freiburg2_desk.bag rgbd_dataset_freiburg2_large_no_loop.bag rgbd_dataset_freiburg2_pioneer_360.bag rgbd_dataset_freiburg2_pioneer_slam2.bag rgbd_dataset_freiburg2_pioneer_slam3.bag rgbd_dataset_freiburg2_pioneer_slam.bag 16:28:40 Results for rgbd_dataset_freiburg1_360 are stored in /SOMEPATH/emm__0.00/CANDIDATES_8/RANSAC_100/HellingerDistance_true/NN_0.9/OPT_SKIP_1000000/SIFTGPU/600_Features/rgbd_dataset_freiburg1_360 16:29:32 Finished processing rgbd_dataset_freiburg1_360 16:29:32 Results for rgbd_dataset_freiburg1_desk2 are stored in /SOMEPATH/emm__0.00/CANDIDATES_8/RANSAC_100/HellingerDistance_true/NN_0.9/OPT_SKIP_1000000/SIFTGPU/600_Features/rgbd_dataset_freiburg1_desk2 16:30:15 Finished processing rgbd_dataset_freiburg1_desk2 16:30:15 Results for rgbd_dataset_freiburg1_desk are stored in /SOMEPATH/emm__0.00/CANDIDATES_8/RANSAC_100/HellingerDistance_true/NN_0.9/OPT_SKIP_1000000/SIFTGPU/600_Features/rgbd_dataset_freiburg1_desk 16:30:54 Finished processing rgbd_dataset_freiburg1_desk 16:30:54 Results for rgbd_dataset_freiburg1_floor are stored in /SOMEPATH/emm__0.00/CANDIDATES_8/RANSAC_100/HellingerDistance_true/NN_0.9/OPT_SKIP_1000000/SIFTGPU/600_Features/rgbd_dataset_freiburg1_floor 16:32:26 Finished processing rgbd_dataset_freiburg1_floor 16:32:26 Results for rgbd_dataset_freiburg1_plant are stored in /SOMEPATH/emm__0.00/CANDIDATES_8/RANSAC_100/HellingerDistance_true/NN_0.9/OPT_SKIP_1000000/SIFTGPU/600_Features/rgbd_dataset_freiburg1_plant 16:34:00 Finished processing rgbd_dataset_freiburg1_plant 16:34:00 Results for rgbd_dataset_freiburg1_room are stored in /SOMEPATH/emm__0.00/CANDIDATES_8/RANSAC_100/HellingerDistance_true/NN_0.9/OPT_SKIP_1000000/SIFTGPU/600_Features/rgbd_dataset_freiburg1_room 16:35:50 Finished processing rgbd_dataset_freiburg1_room 16:35:50 Results for rgbd_dataset_freiburg1_rpy are stored in /SOMEPATH/emm__0.00/CANDIDATES_8/RANSAC_100/HellingerDistance_true/NN_0.9/OPT_SKIP_1000000/SIFTGPU/600_Features/rgbd_dataset_freiburg1_rpy 16:37:37 Finished processing rgbd_dataset_freiburg1_rpy 16:37:37 Results for rgbd_dataset_freiburg1_teddy are stored in /SOMEPATH/emm__0.00/CANDIDATES_8/RANSAC_100/HellingerDistance_true/NN_0.9/OPT_SKIP_1000000/SIFTGPU/600_Features/rgbd_dataset_freiburg1_teddy 16:39:27 Finished processing rgbd_dataset_freiburg1_teddy 16:39:27 Results for rgbd_dataset_freiburg1_xyz are stored in /SOMEPATH/emm__0.00/CANDIDATES_8/RANSAC_100/HellingerDistance_true/NN_0.9/OPT_SKIP_1000000/SIFTGPU/600_Features/rgbd_dataset_freiburg1_xyz 16:44:42 Finished processing rgbd_dataset_freiburg1_xyz 16:44:42 Results for rgbd_dataset_freiburg2_desk are stored in /SOMEPATH/emm__0.00/CANDIDATES_8/RANSAC_100/HellingerDistance_true/NN_0.9/OPT_SKIP_1000000/SIFTGPU/600_Features/rgbd_dataset_freiburg2_desk 16:52:45 Finished processing rgbd_dataset_freiburg2_desk 16:52:45 Results for rgbd_dataset_freiburg2_large_no_loop are stored in /SOMEPATH/emm__0.00/CANDIDATES_8/RANSAC_100/HellingerDistance_true/NN_0.9/OPT_SKIP_1000000/SIFTGPU/600_Features/rgbd_dataset_freiburg2_large_no_loop 16:57:32 Finished processing rgbd_dataset_freiburg2_large_no_loop 16:57:33 Results for rgbd_dataset_freiburg2_pioneer_360 are stored in /SOMEPATH/emm__0.00/CANDIDATES_8/RANSAC_100/HellingerDistance_true/NN_0.9/OPT_SKIP_1000000/SIFTGPU/600_Features/rgbd_dataset_freiburg2_pioneer_360 16:59:43 Finished processing rgbd_dataset_freiburg2_pioneer_360 16:59:43 Results for rgbd_dataset_freiburg2_pioneer_slam2 are stored in /SOMEPATH/emm__0.00/CANDIDATES_8/RANSAC_100/HellingerDistance_true/NN_0.9/OPT_SKIP_1000000/SIFTGPU/600_Features/rgbd_dataset_freiburg2_pioneer_slam2 17:04:01 Finished processing rgbd_dataset_freiburg2_pioneer_slam2 17:04:01 Results for rgbd_dataset_freiburg2_pioneer_slam3 are stored in /SOMEPATH/emm__0.00/CANDIDATES_8/RANSAC_100/HellingerDistance_true/NN_0.9/OPT_SKIP_1000000/SIFTGPU/600_Features/rgbd_dataset_freiburg2_pioneer_slam3 17:08:54 Finished processing rgbd_dataset_freiburg2_pioneer_slam3 17:08:54 Results for rgbd_dataset_freiburg2_pioneer_slam are stored in /SOMEPATH/emm__0.00/CANDIDATES_8/RANSAC_100/HellingerDistance_true/NN_0.9/OPT_SKIP_1000000/SIFTGPU/600_Features/rgbd_dataset_freiburg2_pioneer_slam 17:13:21 Finished processing rgbd_dataset_freiburg2_pioneer_slam rgbd_dataset_freiburg1_360 ... rgbd_dataset_freiburg1_desk ... rgbd_dataset_freiburg1_desk2 ... rgbd_dataset_freiburg1_floor ... rgbd_dataset_freiburg1_plant ... rgbd_dataset_freiburg1_room ... rgbd_dataset_freiburg1_rpy ... rgbd_dataset_freiburg1_teddy ... rgbd_dataset_freiburg1_xyz ... rgbd_dataset_freiburg2_desk ... rgbd_dataset_freiburg2_large_no_loop ... rgbd_dataset_freiburg2_pioneer_360 ... rgbd_dataset_freiburg2_pioneer_slam ... rgbd_dataset_freiburg2_pioneer_slam2 ... rgbd_dataset_freiburg2_pioneer_slam3 ... ATE Results at Level 0 are stored in /SOMEPATH/emm__0.00/CANDIDATES_8/RANSAC_100/HellingerDistance_true/NN_0.9/OPT_SKIP_1000000/SIFTGPU/600_Features/ate_evaluation_0.csv 600 Features "600 Features ATE RMSE" "600 Features Duration" "600 Features Optimization Time" x x x x FR1 360 absolute translational error.rmse 0.076510 m Duration 42.298172624 s Optimizer Runtime 0.0000 s Number of Nodes/Edges 1 1 FR1 desk absolute translational error.rmse 0.075121 m Duration 32.146260343 s Optimizer Runtime 0.0000 s Number of Nodes/Edges 1 1 FR1 desk2 absolute translational error.rmse 0.079761 m Duration 36.850932206 s Optimizer Runtime 0.0000 s Number of Nodes/Edges 1 1 FR1 floor absolute translational error.rmse 0.112347 m Duration 69.651897586 s Optimizer Runtime 0.0000 s Number of Nodes/Edges 1 1 FR1 plant absolute translational error.rmse 0.084981 m Duration 67.618909906 s Optimizer Runtime 0.0000 s Number of Nodes/Edges 1 1 FR1 room absolute translational error.rmse 0.159905 m Duration 78.830655591 s Optimizer Runtime 0.0000 s Number of Nodes/Edges 1 1 FR1 rpy absolute translational error.rmse 0.026324 m Duration 41.078249223 s Optimizer Runtime 0.0000 s Number of Nodes/Edges 1 1 FR1 teddy absolute translational error.rmse 0.220643 m Duration 76.333979514 s Optimizer Runtime 0.0000 s Number of Nodes/Edges 1 1 FR1 xyz absolute translational error.rmse 0.015107 m Duration 47.241976901 s Optimizer Runtime 0.0000 s Number of Nodes/Edges 1 1 FR2 desk absolute translational error.rmse 0.148734 m Duration 189.865066808 s Optimizer Runtime 0.0000 s Number of Nodes/Edges 1 1 FR2 large no loop absolute translational error.rmse 3.832934 m Duration 201.753287978 s Optimizer Runtime 0.0000 s Number of Nodes/Edges 1 1 FR2 pioneer 360 absolute translational error.rmse 0.525455 m Duration 93.082549719 s Optimizer Runtime 0.0000 s Number of Nodes/Edges 1 1 FR2 pioneer slam absolute translational error.rmse 1.323188 m Duration 228.062852120 s Optimizer Runtime 0.0000 s Number of Nodes/Edges 1 1 FR2 pioneer slam2 absolute translational error.rmse 1.292392 m Duration 161.647755064 s Optimizer Runtime 0.0000 s Number of Nodes/Edges 1 1 FR2 pioneer slam3 absolute translational error.rmse 0.901554 m Duration 194.351089801 s Optimizer Runtime 0.0000 s Number of Nodes/Edges 1 1 rgbd_dataset_freiburg1_360 ... rgbd_dataset_freiburg1_desk ... rgbd_dataset_freiburg1_desk2 ... rgbd_dataset_freiburg1_floor ... rgbd_dataset_freiburg1_plant ... rgbd_dataset_freiburg1_room ... rgbd_dataset_freiburg1_rpy ... rgbd_dataset_freiburg1_teddy ... rgbd_dataset_freiburg1_xyz ... rgbd_dataset_freiburg2_desk ... rgbd_dataset_freiburg2_large_no_loop ... rgbd_dataset_freiburg2_pioneer_360 ... rgbd_dataset_freiburg2_pioneer_slam ... rgbd_dataset_freiburg2_pioneer_slam2 ... rgbd_dataset_freiburg2_pioneer_slam3 ... ATE Results at Level 1 are stored in /SOMEPATH/emm__0.00/CANDIDATES_8/RANSAC_100/HellingerDistance_true/NN_0.9/OPT_SKIP_1000000/SIFTGPU/600_Features/ate_evaluation_1.csv 600 Features "600 Features ATE RMSE" "600 Features Duration" "600 Features Optimization Time" x x x x FR1 360 absolute translational error.rmse 0.050809 m Duration 43.747798773 s Optimizer Runtime 1.44239 s Number of Nodes/Edges 720 6480 FR1 desk absolute translational error.rmse 0.019477 m Duration 33.099863672 s Optimizer Runtime 0.947742 s Number of Nodes/Edges 550 6075 FR1 desk2 absolute translational error.rmse 0.027858 m Duration 37.440047681 s Optimizer Runtime 0.583288 s Number of Nodes/Edges 594 5591 FR1 floor absolute translational error.rmse 0.029598 m Duration 74.174583123 s Optimizer Runtime 4.51302 s Number of Nodes/Edges 1112 14316 FR1 plant absolute translational error.rmse 0.043785 m Duration 69.012282089 s Optimizer Runtime 1.35167 s Number of Nodes/Edges 1095 11118 FR1 room absolute translational error.rmse 0.090984 m Duration 80.536028411 s Optimizer Runtime 1.6697 s Number of Nodes/Edges 1324 14031 FR1 rpy absolute translational error.rmse 0.021560 m Duration 54.072469934 s Optimizer Runtime 12.9679 s Number of Nodes/Edges 670 8831 FR1 teddy absolute translational error.rmse 0.058401 m Duration 80.067617283 s Optimizer Runtime 3.72123 s Number of Nodes/Edges 1376 13263 FR1 xyz absolute translational error.rmse 0.011497 m Duration 115.889369449 s Optimizer Runtime 68.6402 s Number of Nodes/Edges 766 12131 FR2 desk absolute translational error.rmse 0.049426 m Duration 231.759806440 s Optimizer Runtime 41.8569 s Number of Nodes/Edges 2866 37366 FR2 large no loop absolute translational error.rmse 3.026149 m Duration 212.014992650 s Optimizer Runtime 10.2045 s Number of Nodes/Edges 3256 38849 FR2 pioneer 360 absolute translational error.rmse 0.433333 m Duration 96.059042697 s Optimizer Runtime 2.96669 s Number of Nodes/Edges 1105 12157 FR2 pioneer slam absolute translational error.rmse 0.274171 m Duration 235.782041909 s Optimizer Runtime 7.69719 s Number of Nodes/Edges 2727 30791 FR2 pioneer slam2 absolute translational error.rmse 0.273093 m Duration 174.517861799 s Optimizer Runtime 12.8407 s Number of Nodes/Edges 1956 23092 FR2 pioneer slam3 absolute translational error.rmse 0.509317 m Duration 205.797739822 s Optimizer Runtime 11.4083 s Number of Nodes/Edges 2441 30089 rgbd_dataset_freiburg1_360 ... rgbd_dataset_freiburg1_desk ... rgbd_dataset_freiburg1_desk2 ... rgbd_dataset_freiburg1_floor ... rgbd_dataset_freiburg1_plant ... rgbd_dataset_freiburg1_room ... rgbd_dataset_freiburg1_rpy ... rgbd_dataset_freiburg1_teddy ... rgbd_dataset_freiburg1_xyz ... rgbd_dataset_freiburg2_desk ... rgbd_dataset_freiburg2_large_no_loop ... rgbd_dataset_freiburg2_pioneer_360 ... rgbd_dataset_freiburg2_pioneer_slam ... rgbd_dataset_freiburg2_pioneer_slam2 ... rgbd_dataset_freiburg2_pioneer_slam3 ... ATE Results at Level 2 are stored in /SOMEPATH/emm__0.00/CANDIDATES_8/RANSAC_100/HellingerDistance_true/NN_0.9/OPT_SKIP_1000000/SIFTGPU/600_Features/ate_evaluation_2.csv 600 Features "600 Features ATE RMSE" "600 Features Duration" "600 Features Optimization Time" x x x x FR1 360 absolute translational error.rmse 0.050809 m Duration 44.312147859 s Optimizer Runtime 0.556168 s Number of Nodes/Edges 720 6480 FR1 desk absolute translational error.rmse 0.019477 m Duration 33.227367633 s Optimizer Runtime 0.102902 s Number of Nodes/Edges 550 6075 FR1 desk2 absolute translational error.rmse 0.027858 m Duration 37.515345604 s Optimizer Runtime 0.0685059 s Number of Nodes/Edges 594 5591 FR1 floor absolute translational error.rmse 0.029598 m Duration 74.674228244 s Optimizer Runtime 0.484469 s Number of Nodes/Edges 1112 14316 FR1 plant absolute translational error.rmse 0.043815 m Duration 70.361729353 s Optimizer Runtime 1.33108 s Number of Nodes/Edges 1095 11118 FR1 room absolute translational error.rmse 0.091103 m Duration 84.441224842 s Optimizer Runtime 3.88838 s Number of Nodes/Edges 1324 14031 FR1 rpy absolute translational error.rmse 0.021560 m Duration 59.024306578 s Optimizer Runtime 4.94291 s Number of Nodes/Edges 670 8831 FR1 teddy absolute translational error.rmse 0.058401 m Duration 81.656011408 s Optimizer Runtime 1.57146 s Number of Nodes/Edges 1376 13263 FR1 xyz absolute translational error.rmse 0.011497 m Duration 141.949698572 s Optimizer Runtime 26.0492 s Number of Nodes/Edges 766 12131 FR2 desk absolute translational error.rmse 0.049424 m Duration 273.711075230 s Optimizer Runtime 41.8409 s Number of Nodes/Edges 2866 37366 FR2 large no loop absolute translational error.rmse 2.680321 m Duration 222.211145156 s Optimizer Runtime 10.1333 s Number of Nodes/Edges 3256 38849 FR2 pioneer 360 absolute translational error.rmse 0.412442 m Duration 99.309691834 s Optimizer Runtime 3.21841 s Number of Nodes/Edges 1105 12157 FR2 pioneer slam absolute translational error.rmse 0.258612 m Duration 243.527669283 s Optimizer Runtime 7.70894 s Number of Nodes/Edges 2727 30791 FR2 pioneer slam2 absolute translational error.rmse 0.255024 m Duration 182.655410994 s Optimizer Runtime 8.1087 s Number of Nodes/Edges 1956 23092 FR2 pioneer slam3 absolute translational error.rmse 0.496615 m Duration 217.281118079 s Optimizer Runtime 11.415 s Number of Nodes/Edges 2441 30089 rgbd_dataset_freiburg1_360 ... rgbd_dataset_freiburg1_desk ... rgbd_dataset_freiburg1_desk2 ... rgbd_dataset_freiburg1_floor ... rgbd_dataset_freiburg1_plant ... rgbd_dataset_freiburg1_room ... rgbd_dataset_freiburg1_rpy ... rgbd_dataset_freiburg1_teddy ... rgbd_dataset_freiburg1_xyz ... rgbd_dataset_freiburg2_desk ... rgbd_dataset_freiburg2_large_no_loop ... rgbd_dataset_freiburg2_pioneer_360 ... rgbd_dataset_freiburg2_pioneer_slam ... rgbd_dataset_freiburg2_pioneer_slam2 ... rgbd_dataset_freiburg2_pioneer_slam3 ... ATE Results at Level 3 are stored in /SOMEPATH/emm__0.00/CANDIDATES_8/RANSAC_100/HellingerDistance_true/NN_0.9/OPT_SKIP_1000000/SIFTGPU/600_Features/ate_evaluation_3.csv 600 Features "600 Features ATE RMSE" "600 Features Duration" "600 Features Optimization Time" x x x x FR1 360 absolute translational error.rmse 0.050576 m Duration 46.081793921 s Optimizer Runtime 1.76142 s Number of Nodes/Edges 720 6480 FR1 desk absolute translational error.rmse 0.019477 m Duration 33.342535090 s Optimizer Runtime 0.102992 s Number of Nodes/Edges 550 6075 FR1 desk2 absolute translational error.rmse 0.027788 m Duration 38.101771011 s Optimizer Runtime 0.579687 s Number of Nodes/Edges 594 5591 FR1 floor absolute translational error.rmse 0.029598 m Duration 75.172480184 s Optimizer Runtime 0.483145 s Number of Nodes/Edges 1112 14316 FR1 plant absolute translational error.rmse 0.044077 m Duration 73.278058707 s Optimizer Runtime 2.90272 s Number of Nodes/Edges 1095 11118 FR1 room absolute translational error.rmse 0.093651 m Duration 86.153549371 s Optimizer Runtime 1.67113 s Number of Nodes/Edges 1324 14031 FR1 rpy absolute translational error.rmse 0.021484 m Duration 84.680335831 s Optimizer Runtime 25.6473 s Number of Nodes/Edges 670 8831 FR1 teddy absolute translational error.rmse 0.058030 m Duration 86.764935444 s Optimizer Runtime 5.09201 s Number of Nodes/Edges 1376 13263 FR1 xyz absolute translational error.rmse 0.011486 m Duration 233.300025140 s Optimizer Runtime 91.3391 s Number of Nodes/Edges 766 12131 FR2 desk absolute translational error.rmse 0.049439 m Duration 315.599843568 s Optimizer Runtime 41.847 s Number of Nodes/Edges 2866 37366 FR2 large no loop absolute translational error.rmse 2.515014 m Duration 232.500727440 s Optimizer Runtime 10.2246 s Number of Nodes/Edges 3256 38849 FR2 pioneer 360 absolute translational error.rmse 0.385009 m Duration 102.237421910 s Optimizer Runtime 2.91352 s Number of Nodes/Edges 1105 12157 FR2 pioneer slam absolute translational error.rmse 0.239141 m Duration 251.533370666 s Optimizer Runtime 7.96712 s Number of Nodes/Edges 2727 30791 FR2 pioneer slam2 absolute translational error.rmse 0.235535 m Duration 191.134895832 s Optimizer Runtime 8.41471 s Number of Nodes/Edges 1956 23092 FR2 pioneer slam3 absolute translational error.rmse 0.488716 m Duration 228.815468392 s Optimizer Runtime 11.4885 s Number of Nodes/Edges 2441 30089 rgbd_dataset_freiburg1_360 ... rgbd_dataset_freiburg1_desk ... rgbd_dataset_freiburg1_desk2 ... rgbd_dataset_freiburg1_floor ... rgbd_dataset_freiburg1_plant ... rgbd_dataset_freiburg1_room ... rgbd_dataset_freiburg1_rpy ... rgbd_dataset_freiburg1_teddy ... rgbd_dataset_freiburg1_xyz ... rgbd_dataset_freiburg2_desk ... rgbd_dataset_freiburg2_large_no_loop ... rgbd_dataset_freiburg2_pioneer_360 ... rgbd_dataset_freiburg2_pioneer_slam ... rgbd_dataset_freiburg2_pioneer_slam2 ... rgbd_dataset_freiburg2_pioneer_slam3 ... ATE Results at Level 4 are stored in /SOMEPATH/emm__0.00/CANDIDATES_8/RANSAC_100/HellingerDistance_true/NN_0.9/OPT_SKIP_1000000/SIFTGPU/600_Features/ate_evaluation_4.csv 600 Features "600 Features ATE RMSE" "600 Features Duration" "600 Features Optimization Time" x x x x FR1 360 absolute translational error.rmse 0.048857 m Duration 47.067854598 s Optimizer Runtime 0.977799 s Number of Nodes/Edges 720 6480 FR1 desk absolute translational error.rmse 0.019684 m Duration 36.195383320 s Optimizer Runtime 2.83048 s Number of Nodes/Edges 550 6075 FR1 desk2 absolute translational error.rmse 0.027074 m Duration 39.746336187 s Optimizer Runtime 1.63785 s Number of Nodes/Edges 594 5591 FR1 floor absolute translational error.rmse 0.029575 m Duration 87.627300265 s Optimizer Runtime 12.4395 s Number of Nodes/Edges 1112 14316 FR1 plant absolute translational error.rmse 0.043274 m Duration 75.428931488 s Optimizer Runtime 2.12065 s Number of Nodes/Edges 1095 11118 FR1 room absolute translational error.rmse 0.087478 m Duration 89.792328017 s Optimizer Runtime 3.6033 s Number of Nodes/Edges 1324 14031 FR1 rpy absolute translational error.rmse 0.021458 m Duration 94.718202820 s Optimizer Runtime 10.0094 s Number of Nodes/Edges 670 8831 FR1 teddy absolute translational error.rmse 0.058357 m Duration 88.574845317 s Optimizer Runtime 1.79299 s Number of Nodes/Edges 1376 13263 FR1 xyz absolute translational error.rmse 0.011494 m Duration 301.904405597 s Optimizer Runtime 68.5931 s Number of Nodes/Edges 766 12131 FR2 desk absolute translational error.rmse 0.049514 m Duration 446.863398146 s Optimizer Runtime 131.209 s Number of Nodes/Edges 2866 37366 FR2 large no loop absolute translational error.rmse 2.448782 m Duration 243.505229256 s Optimizer Runtime 10.9482 s Number of Nodes/Edges 3256 38849 FR2 pioneer 360 absolute translational error.rmse 0.351363 m Duration 105.341263357 s Optimizer Runtime 3.07898 s Number of Nodes/Edges 1105 12157 FR2 pioneer slam absolute translational error.rmse 0.219934 m Duration 261.754249066 s Optimizer Runtime 10.1796 s Number of Nodes/Edges 2727 30791 FR2 pioneer slam2 absolute translational error.rmse 0.232754 m Duration 200.777686886 s Optimizer Runtime 9.58271 s Number of Nodes/Edges 1956 23092 FR2 pioneer slam3 absolute translational error.rmse 0.448235 m Duration 240.638494275 s Optimizer Runtime 11.789 s Number of Nodes/Edges 2441 30089