How could I compare the pose result of mine algorithm(SLAM/Odometry) with the ground truth?

utiasSTARS / pykitti

Python tools for working with KITTI data.

MIT License

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How could I compare the pose result of mine algorithm(SLAM/Odometry) with the ground truth? #37

Closed AbnerCSZ closed 5 years ago

AbnerCSZ commented 5 years ago

How could I compare the pose result of mine algorithm(SLAM/Odometry) with the ground truth? Just like tum rgb-d tool: Useful tools for the RGB-D benchmark

In other words, how could I calculate the ate(ABSOLUTE TRAJECTORY ERROR) and RELATIVE POSE ERROR(rpe) between My pose result(In left gray camera And Velodyne) and the benchmark?

Thanks!