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}