How to generate sequence 00~08 pose ground truth for evaluation

[BassyKuo]

Hi, I tried to evaluate the model on sequence 00~08. I used dump_pose_seq_TUM function to translate the pose from data/prepare_train_data.py as the ground truth. There are ATE errors of sequence 00~10 by using eval_pose.py. (ground truth 09~10 in pose_data/, 00~08 generated by myself)

I doubt that ground truths 00~08 are generated incorrectly, which causes the error to be so large. Could you tell me how to get the ground truth pose for evaluation? Thanks.

[hlzz]

@BassyKuo I don't know which part you did wrong. Are the pose files for 00-08 generated by this repo?