Tools usage¶
Evaluation¶
To evaluate the odometry result on KITTI dataset, here we provide an example. For details, please refer to the eval_odom wiki page.
# Evaluate Odometry Split python tools/evaluation/eval_odom.py \ --result {RESULT_DIR} \ --gt dataset/kitti_odom/gt_poses/ \ --align 7dof \ --seqs "09" "10"
General tools¶
# Generate ground truth poses from KITTI Raw dataset python tools/generate_kitti_raw_pose.py \ --data_dir dataset/kitti_raw \ --result_dir dataset/kitti_raw_pose \ --seqs 2011_09_26_drive_0005_sync 2011_09_26_drive_0009_sync # Generate KITTI Flow 2012/2015 prediction python tools/generate_flow_prediction.py \ --dataset kitti2012 \ --model {FLOW_MODEL_PATH} \ --result {RESULT_DIR}