ETH3D SLAM Evaluation Program

This tool is used for evaluating SLAM methods in the ETH3D benchmark.

Usage:

ETH3DSLAMEvaluation \
    ground_truth.txt \
    estimated_trajectory.txt \
    <rgb.txt or depth.txt> \
    [--sim3] \
    [--max_interpolation_timespan t] \
    [--all_visualizations] \
    [--write_estimated_trajectory_ply]

If you use the dataset for research, please cite our paper:

Thomas Schöps, Torsten Sattler, Marc Pollefeys, "BAD SLAM: Bundle Adjusted Direct RGB-D SLAM", CVPR 2019.