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tum-vision / LDSO

DSO with SIM(3) pose graph optimization and loop closure
GNU General Public License v3.0
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accuracy #64

Closed Xuan-1998 closed 2 years ago

Xuan-1998 commented 3 years ago

How to measure the accuracy? Are there any stats or numbers for that?

mgladkova commented 3 years ago

Hi @Xuan-1998, To evaluate a camera trajectory with and without global pose graph optimization you can utilize printResult function. To assess a 3D map you can parse pointcloud from saveAsPLYFile method. If you are interested in the system accuracy on some public datasets, you can refer to the original paper for relevant results and metrics.