Evaluating Monocular ORB-SLAM/ORB-SLAM2 on KITTI dataset

[gs14iitbbs]

Hi, I want to evaluate monocular ORB-SLAM or Monocular ORB-SLAM2 on KITTI driving dataset. But the format of KITTI groundtruth is

timestamp a b c d e f g h i j k l

, while monocular ORB generates poses in TUM format

timestamp tx ty tz qx qy qz qw

I found this evaluate_rpe and evaluate_ate, which needs both to be in TUM format.

I tried converting keyframe poses from KITTI to TUM(quaternion) format, but got weird results. Can you please explain how to convert KITTI groundtruth poses to TUM format for such evaluation?

Also, the timestamps generated by monocular ORB-SLAM2 are very different from KITTI groundtruth timestamps. I don't understand why?

[zssjh]

@gs14iitbbs did you solved it?

[langelesl]

@gs14iitbbs @zssjh Same question. Have you found a way to evaluate the KeyFrameTrajectory.txt from Mono-Mode with the ground truth file of KITTI? Thanks.

[haliphinx]

@gs14iitbbs @zssjh @langelesl I coded a brief python code to evaluate the mono ORB SLAM on KITTI based on this evaluate_ate_scale file. You can find my code here ORB_MONO_EVA.

[joshfriesen]

@haliphinx your code works wonderfully, thank you.