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spla-tam / SplaTAM

SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM (CVPR 2024)
https://spla-tam.github.io/
BSD 3-Clause "New" or "Revised" License
1.58k stars 174 forks source link

Confusing about Trajectory Evaluation Function evaluate_ate #123

Open saulgooodman opened 4 months ago

saulgooodman commented 4 months ago

Hello, your work is really impressive. I find it confusing reading the trajectory evaluation function eval_ate. Within the eval_helpers.py file, the evaluation function def evaluate_ate(gt_traj, est_traj) is intended to return the mean Absolute Trajectory Error (ATE-mean), yet the output is ultimately utilized as the Root Mean Square Error (RMSE) of ATE. Could you elucidate on this? Thank you very much!" image

Nik-V9 commented 2 months ago

Hi, Thanks for your interest!

The ATE is the mean RMSE between the predicted and ground-truth poses.