diff --git a/README.md b/README.md index 1ebdb53298..63770550e8 100644 --- a/README.md +++ b/README.md @@ -63,13 +63,23 @@ We recommend converting the ORB vocabulary to binary format, by calling ./tools/bin_vocabulary +### Open-loop Evaluation + To run GF-ORB-SLAM2 on public benchmarks, please refer to batch evaluation scripts at folder batch_script -or follow the example calls at **rosrun_cmd.md** for your own sensor / sequence. +or follow the example calls at **rosrun_cmd.md** for your own sensor / sequence. + +Similar to original ORB-SLAM2, the camera parameters shall be provided in yaml format. Some example configurations for public benchmarks are available at `ORB_Data` we just cloned. + +### Closed-loop Evaluation + +To run GF-ORB-SLAM2 on closed-loop navigation tasks, e.g., as the state estimator of [gazebo_turtlebot_simulator](https://github.com/ivalab/gazebo_turtlebot_simulator), make sure the closed-loop macro `ENABLE_PLANNER_PREDICTION` at [include/Tracking.h](https://github.com/ivalab/gf_orb_slam2/tree/catkin/include/Tracking.h#L92) is uncommented: + + #define ENABLE_PLANNER_PREDICTION -Similar to original ORB-SLAM2, the camera parameters shall be provided in yaml format. Some example configurations for public benchmarks are available at ORB_Data we just cloned. +and refer to closed-loop evaluation scripts at [gazebo_turtlebot_simulator/script](https://github.com/ivalab/gazebo_turtlebot_simulator/tree/master/script) on how to config the evaluation. ## References diff --git a/include/Tracking.h b/include/Tracking.h index 376e8f81bc..9068e8fa1a 100755 --- a/include/Tracking.h +++ b/include/Tracking.h @@ -89,7 +89,7 @@ using namespace Eigen; // https://github.gatech.edu/ivabots/trajectory_state_predictor // Otherwise, you might write your own predictor by grabbing output from the controller // -// #define ENABLE_PLANNER_PREDICTION +#define ENABLE_PLANNER_PREDICTION #ifdef ENABLE_PLANNER_PREDICTION #include