Evaluation

ATE (trajectory error)

Compares estimated camera path to ground truth after alignment.

ate_rmse in metrics.json
C3VD poses are in millimeters. A value near 5 means about 5 mm error, not 5 meters.
ate.unit shows mm when set in config.

Needs pose.txt (or similar) in the dataset folder.

Share of map voxels marked visited. In metrics.json and coverage_summary.json.

Only when a ground-truth point cloud exists. Fraction of GT points near a visited voxel.

python scripts/evaluate.py --config configs/c3vd.yaml
python scripts/evaluate.py --all
python scripts/verify_run.py outputs/c3vd/trans_t1_a

outputs/<dataset>/<run_id>/
  coverage.ply
  metrics.json
  minimap.png
  slam/trajectory.txt