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About tracking time

hellovuong opened this issue · comments

commented

Hi, I have another question, in your paper,

I saw your measure "tracking time" and compare it between your SLAM and ORB_SLAM2. Where can I found that metrics or how can I get it (in both ORB_SLAM2 and your SLAM)? Thank you again and looking for your answer.
595E6B9C-6030-448C-B09F-AC0AE948CBA9

commented

Run main.m with mode_EuRoC_MAV = 1 in line 22. Then check the following variables

  • ORB-VO: trackingTimeMed_orb_VO_full, trackingTimeAvg_orb_VO_full_new, trackingTimeStd_orb_VO_full_new
  • ORB-SLAM: trackingTimeMed_orb_SLAM_full, trackingTimeAvg_orb_SLAM_full_new, trackingTimeStd_orb_SLAM_full_new
  • DSO-default: trackingTimeMed_dso_default_full, trackingTimeAvg_dso_default_full_new, trackingTimeStd_dso_default_full_new
  • DSO-reduced: trackingTimeMed_dso_reduced_half, trackingTimeAvg_dso_reduced_half_new, trackingTimeStd_dso_reduced_half_new
  • Ours-VO: trackingTimeMed_our_VO, trackingTimeAvg_our_VO_new, trackingTimeStd_our_VO_new
  • Ours-SLAM: trackingTimeMed_our_SLAM, trackingTimeAvg_our_SLAM_new, trackingTimeStd_our_SLAM_new

These 1-by-11 vectors contain the median, mean and standard deviation values of the tracking times for each sequence of the EuRoC MAV dataset.

commented

Oh great, I got it, thank you for you kindly support