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baidu / ICE-BA

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Evalutation Scripts, RMSE 0% on all sequences, trajectory file consists only of small number of frames #39

Open ashishkumar822 opened 2 years ago

ashishkumar822 commented 2 years ago

Hi, I have two issues with the code base.

  1. I have got to compare accuracy of ICE-BA with some different front-end. But I could not find any evaluation script for computing ATE.
  2. I went through the code and found that back-end consists of RMSE calculations. However when I run it, I always get zero LBA and GBA error.

I get the following output:

../bin/back_end ../config/config_of_stereo.txt Loaded '../config/config_of_stereo.txt' Found '/home/isl-server/vo_seqs/vo_sequences/MH02/mav0/cam0/data/1403637010601666560.png' Found '/home/isl-server/vo_seqs/vo_sequences/MH02/dat/1403637010601666560.png.dat' Found '/home/isl-server/vo_seqs/vo_sequences/MH02/mav0/cam1/data/1403637010601666560.png' Loaded '/home/isl-server/vo_seqs/vo_sequences/MH02/./calibration.dat' Tcu = 0.014865 0.999557 -0.025774 0.065223 -0.999881 0.014967 0.003756 -0.020706 0.004140 0.025716 0.999661 -0.008055 Tlr = 0.999997 -0.002317 -0.000343 0.110074 0.002312 0.999898 -0.014091 -0.000157 0.000376 0.014090 0.999901 0.000889 K = 458.653992 457.295990 367.214996 248.375000 d = -0.283408 0.073959 0.000194 0.000018 0.000000 0.000000 0.000000 0.000000 Kr = 457.587006 456.134003 379.998993 255.238007 dr = -0.283684 0.074513 -0.000105 -0.000036 0.000000 0.000000 0.000000 0.000000 Loaded '../config/config_of_stereo.txt' 3040 / 3040 = 100.000000%

RMSE LBA = 0.000000 / 73.761749 = 0.000000% GBA = 0.000000 / 73.761749 = 0.000000% Saved '/home/isl-server/vo_seqs/vo_sequences/MH02/../RMSE_stereo/MH02_1.txt'

Time LBA = 7206.813965 / 3040 = 2.370662 ms GBA = 2642.825439 / 315 = 8.389922 ms

Kindly provide solution as soon as possible as we need to meet a near deadline.

Thank you

yrq0208 commented 1 year ago

Hi @ashishkumar822 , if it is not too late already, you can try using evo https://github.com/MichaelGrupp/evo for the calculation of RMSE