README_EVAL.md

Evaluation for Revisit Error and Reprojection Error

Revisit Error

To run the revisit error evaluation, use the following command:

bash scripts/eval_rve.sh

Reprojection Error

Environment Setup

For the reprojection error, we recommend using a new conda environment to avoid dependency conflicts. You can create and activate the environment using the following commands:

# create and activate conda environment
conda create -n rpe_evaluation python=3.10 && conda activate rpe_evaluation

# install necessary packages
conda install pytorch==2.5.1 torchvision==0.20.1 torchaudio==2.5.1 pytorch-cuda=12.1 -c pytorch -c nvidia
conda install suitesparse -c conda-forge
pip install open3d tensorboard scipy opencv-python tqdm matplotlib pyyaml opencv-python decord imageio pathlib
pip install evo --upgrade --no-binary evo
pip install gdown

# update submodules
git submodule update --init --recursive

# install third party libraries
pip install evaluation/reprojection_error/third_party/DROID-SLAM/thirdparty/lietorch
pip install torch-scatter -f https://data.pyg.org/whl/torch-2.5.1+cu121.html

# install droid-backend
cd evaluation/reprojection_error/third_party/DROID-SLAM && pip install -e . && cd ../../../../..

Run the evaluation

To run the reprojection error evaluation, use the following command:

bash scripts/eval_rpe.sh