test_datasets.md

Test on Datasets

Download datasets

• ECD dataset: It contains four hand-held rotational motion sequences, which is recorded with a DAVIS240C (240 x 180 px).

  • shapes_rotation.bag
  • poster_rotation.bag
  • boxes_rotation.bag
  • dynamic_rotation.bag

• ECRot dataset: It contains six synthetic sequences (using a DAVIS240C model) and ten real-world sequences, recorded with a DVXplorer (640 x 480 px resolution).

Run CMax-SLAM

Change the path to the bag file at the bottom of each launch file, and run the corresponding launch file for the sequence that you want to test on:

• ECD dataset: roslaunch cmax_slam ijrr.launch . See ijrr.launch
• ECRot dataset (synthetic): roslaunch cmax_slam ecrot_synth.launch . See ecrot_synth.launch
• ECRot dataset (hand-held): roslaunch cmax_slam ecrot_handheld.launch . See ecrot_handheld.launch
• ECRot dataset (motorized mount): roslaunch cmax_slam ecrot_mount.launch . See ecrot_mount.launch