# KITTI_odometry_evaluation_tool

**Repository Path**: logi_yin/KITTI_odometry_evaluation_tool

## Basic Information

- **Project Name**: KITTI_odometry_evaluation_tool
- **Description**: KITTI odometry evaluation tool
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2020-11-26
- **Last Updated**: 2021-04-22

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# KITTI odometry evaluation tool

## Usage

Each trajectory file `xx.txt` contains a N x 12 table, where N is the number of frames of the sequence. Row i represents the i'th pose via a 3x4 transformation matrix.
To evaluate one or more given trajectories, such as `09_pred.txt` and `10_pred.txt`  in the `data` folder:

        python evaluation.py --result_dir=./data/ --eva_seqs=09_pred,10_pred 

To evaluate all trajectories in the `data` folder:

        python evaluation.py --result_dir=./data/ --eva_seqs=* 

The evaluation results will be generated in folder `./data/xx_eval/`. 
![evaluation example](https://github.com/LearnerLee/KITTI-odometry-evaluation-tool/blob/master/doc/09_error_seg.png)
![evaluation example](https://github.com/LearnerLee/KITTI-odometry-evaluation-tool/blob/master/doc/09_path.png)
![evaluation example](https://github.com/LearnerLee/KITTI-odometry-evaluation-tool/blob/master/doc/09_rpy.png)

## Reference
<a href="http://www.cvlibs.net/datasets/kitti/eval_odometry.php" target="_blank">KITTI odometry development kit</a>