SVO Analysis

Download Test Data

Create a folder where you will store all datasets, e.g.:

mkdir Datasets

In your .bashrc script, create a new environment variable pointing to the dataset folder:

export SVO_DATASET_DIR=${HOME}/Datasets

Source your new .bashrc script, go to the new dataset folder and download the test data:

source ~/.bashrc
cd ${SVO_DATASET_DIR}
wget http://rpg.ifi.uzh.ch/datasets/sin2_tex2_h1_v8_d.tar.gz -O - | tar -xz

Run Benchmark

In the CMakeLists.txt of SVO you need to set the TRACE flag to TRUE and recompile SVO. Afterwards run

rosrun svo_analysis benchmark.py sin2_tex2_h1_v8_d

The script will create a new folder in svo_analysis/results/, run svo on the dataset and save the tracefile in this folder and at the end it will run some scripts to generate plots from the tracefile.