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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

Reference

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