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TUM dataset is ready at branch `vo_tum` #2

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eric-yyjau opened this issue Aug 19, 2020 · 0 comments

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eric-yyjau commented Aug 19, 2020 •

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Download TUM dataset

cd core/dataset/tum/
python download.py

Run testing

conda activate /jbk001-data1/yyjau/conda/py36-trian2
# run
python infer_vo.py --config_file ./config/odo.yaml --gpu 0 --traj_save_dir_txt results/tum/office.txt \
--sequences_root_dir ./data/tum_data_f3 \
--sequence rgbd_dataset_freiburg3_long_office_household --pretrained_model /jbk001-data1/models/trianflow/kitti_odo.pth \
--dataset tum

Evaluation

evo_ape tum -s --align \
./data/tum_data_f3/rgbd_dataset_freiburg3_long_office_household/groundtruth.txt \
results/tum/rgbd_dataset_freiburg3_long_office_household/rgbd_dataset_freiburg3_long_office_household.tum \
--save_plot results/tum/rgbd_dataset_freiburg3_long_office_household/ape_xyz.pdf

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