KITTI Odometry Evaluation Toolbox

An enhanced evaluation toolbox for KITTI Odometry benchmark, enabling robust parsing of various pose formats and automatic timestamp alignment.

Features

• Robust Parsing: Supports multiple pose file formats:
  • KITTI: 12 floats (3x4 matrix)
  • KITTI with Timestamp: 13 floats (Timestamp + 12 floats)
  • TUM: 7 floats (tx ty tz qx qy qz qw)
  • TUM with Timestamp: 8 floats (Timestamp + 7 floats)
  • TUM with Index: 9 floats (Timestamp + 7 floats + index/id)
• Automatic Timestamp Normalization: Automatically detects absolute Unix timestamps (e.g., 1.7e9) and normalizes them to start at 0.0 to match Ground Truth files.
• Comment Handling: Automatically ignores comment lines starting with #.
• Method & Format Logging: clearly logs detected file formats and processing details.

Requirements

• Python 3.8 or higher
• NumPy
• Pandas
• Plotly
• PyYAML
• SciPy

Usage

The primary script is odometry.py, which is driven by a YAML configuration file.

Running Evaluation

python3 odometry.py --config config.yaml

Configuration File (config.yaml)

Define your evaluation tasks in config.yaml:

eval_config:
  - method_name: "droid_slam"
    result_dir: "result/droid_slam"     # Directory containing result files (00.txt, 01.txt...)
    gt_dir: "dataset/buggy_odom/gt_poses/" # Directory containing GT files
    alignments: ["7dof"]                # Alignment options: scale, 6dof, 7dof, scale_7dof
    sequences: [0, 1]                   # Sequences to evaluate
    step: 1                             # Frame step (optional)
    computational_metrics_optional: true

Supported Result formats

Your result files (e.g., result/droid_slam/00.txt) can be in any of the following formats:

1. Standard KITTI (12 floats):

   r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz
   

2. KITTI with Timestamp (13 floats):

   timestamp r11 r12 r13 tx ...
   

3. TUM Format (7 floats):

   tx ty tz qx qy qz qw
   

4. TUM with Timestamp (8 floats):

   timestamp tx ty tz qx qy qz qw
   

5. TUM with Index (9 floats) - New:

   timestamp tx ty tz qx qy qz qw index
   

   Note: Timestamps can be absolute (Unix epoch) or relative. The tool will normalize them automatically.

License

Released under the MIT license.