Please use this benchmark to validate the training sequences; this is exactly the same running in the website backend www.rvp-group.net/slam-benchmark. Follow the below instructions for usage:
g++ -o vbr_benchmark vbr_benchmark.cpp -I /usr/include/eigen3 -O3 -std=c++17
./vbr_benchmark /path_to/vbr_gt/ /path_to/method/ [--plot]
You can enable the --plot flag to get aligned trajectory plots and error files for your training estimates.
Important
When you run this locally, you will not have ground truth data for test sequences, so ignore messages related to missing test data. When you submit, make sure to insert both your training and test estimates since we evaluate both. If you do not submit one of these, the evaluation will not run!