huangying-zhan / kitti-odom-eval Goto Github PK

I've been going through the code and I've been having a hard time understanding why the translation/rotation error recalculated at every 10th frame.

at line 191:

Why is first_frame resetted at every 10th frame and the whole errors recomputed for a segment (100m, 200m, etc.) We end up with multiple error values for segments of decreasing lengths. It looks like some sort of sliding window of varying length that is moved along the sequence.

Why is it computed this way and not computed over the first 100 meters, then 200 meters, etc?

I'm trying to evaluate KITTI odometry
first I convert pose to 6DoF using this code

def rotationMatrixToEulerAngles(self, R):
        assert (self.isRotationMatrix(R))
        sy = math.sqrt(R[0, 0] * R[0, 0] + R[1, 0] * R[1, 0])
        singular = sy < 1e-6

        if not singular:
            x = math.atan2(R[2, 1], R[2, 2])
            y = math.atan2(-R[2, 0], sy)
            z = math.atan2(R[1, 0], R[0, 0])
        else:
            x = math.atan2(-R[1, 2], R[1, 1])
            y = math.atan2(-R[2, 0], sy)
            z = 0
        return np.array([x, y, z], dtype=np.float32)

def matrix_rt(self, p):
        return np.vstack([np.reshape(p.astype(np.float32), (3, 4)), [[0., 0., 0., 1.]]])

pose1 = self.matrix_rt(self.poses[index][i])
pose2 = self.matrix_rt(self.poses[index][i + 1])
pose2wrt1 = np.dot(np.linalg.inv(pose1), pose2)
R = pose2wrt1[0:3, 0:3]
t = pose2wrt1[0:3, 3]
angles = self.rotationMatrixToEulerAngles(R)
odometries.append(np.concatenate((t, angles)))

also, model output is in the same format (6DoF)

the question is how to evaluate 6DoF results

like trajectory and error plot in one image

Using Jiawang's model, I get 09.txt.
When I apply this code, the result will always shrink to a point.
Excuse me, what's the matter?

Can you provide an explanation what this project actually does and how do we provide custom inputs (from the example directory) ? Your help would be appreciated.

Thanks in advance.

Thanks for the code.

I am receiving the error Singular Matrix. How should I resolve it?

thanks to share this tool, I just wanted to understand these values, they should be the absolute trajectory error results on kitti benchmark I got them from a research paper, could you explain it please, I should produce similar values to compare, how to do that using this tool,? thanks in advance

Hi! Thanks again for publishing your work, it has been very helpful for my project.
I have noticed that the resulting graphs, regardless of sequence, will always include up to 800 meters on the X axis.
This means that for sequences shorter than 800 meters (such as 04), the points exceeding the sequence path drop down to zero, while sequences greater than 800 meters in length (such as 00) will cut off the results at 800 meters.

Is there a way I can set parameters to resolve this on my own, or is this something that must be addressed in the core code?

how to make this curve ?

thanks a lot， can you tell me what different between your code and Official code provided by the kitti dataset?

It's very useful~

Hello, in your code you apply inverse to the first frame and then multiply it with the corresponding (i-th) pose matrix to obtain the pose at the frame i. Why not just multiply the i-th pose matrix with the first pose? Why do we need inverse here?

I am talking about the lines like: poses_result[cnt] = np.linalg.inv(pred_0) @ poses_result[cnt].
I thought to obtain poses we simply need to: poses_result[cnt] = poses_result[cnt] @ pred_0.