rpg_trajectory_evaluation

Implements Absolute Trajectory Error (ATE) and Relative Error (RE) exactly as defined in the KITTI benchmark, ensuring consistency with widely accepted research standards.

Can compare multiple algorithms across datasets with a single command using YAML configuration files, automating the generation of comparative plots and LaTeX tables.

Supports SE3, Sim3, and posyaw alignment methods to handle different sensor setups like monocular, stereo, or visual-inertial systems, as detailed in the evaluation parameters.

Directly produces publication-quality PDF plots and formatted LaTeX tables for RMSE statistics, reducing manual post-processing for academic papers.

Includes utilities to transform common formats like EuRoC datasets and ROS bags into the required pose file structure, simplifying data preparation.