Does this repo include RoNIN_3D mentioned in the paper?

[MathLens]

If so, could you provide the corresponding command?

[CathIAS]

Yes! Apologies for the delay. RoNIN 3D baseline is essentially the network part before the filter, and the metrics and plots can be obtained through test.py:

python3 src/main_net.py \
--mode test \
--root_dir data/Dataset \
--test_list data/Dataset/test.txt \
--model_path models/resnet/checkpoint_*.pt \
--out_dir test_outputs \
--save_plot

Having --save_plot option on will save the concatenated trajectories and output visualization into the output directory.

[MathLens]

I see. Thank you!