# uzh-rpg/rpg_trajectory_evaluation

Toolbox for quantitative trajectory evaluation of VO/VIO

Repository: https://github.com/uzh-rpg/rpg_trajectory_evaluation
Canonical: https://ross.abutalabs.com/products/rpg_trajectory_evaluation
Language: Python
License: MIT
License Family: permissive
Last push: 2023-03-30T13:07:24+00:00

## Health v2 (maintenance only)
Score: 23/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 0, release rhythm 8, longevity 100
- inputs: {"age_days": 2960, "days_push": 1252, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: none
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1212, forks 374 (observed 2026-08-28T04:04:00.247978+00:00)

## What it is
A Python toolbox for quantitatively evaluating visual(-inertial) odometry trajectories, supporting multiple alignment methods and standard error metrics like ATE and relative error. It can analyze single trajectory estimates or compare multiple algorithms across datasets, producing paper-ready plots and tables.

## Use cases
- evaluate visual odometry trajectory accuracy against ground truth
- compute absolute trajectory error for SLAM output
- compare VIO algorithms across multiple datasets
- generate plots and tables of odometry errors for a paper
- align estimated trajectories with rigid-body or similarity transforms
- run KITTI-style relative pose error evaluation

## When to choose
- you need standardized ATE/RE metrics for VO/VIO research
- you want reproducible, paper-ready trajectory evaluation plots and tables
- you are benchmarking multiple odometry algorithms on many datasets
- you work in a ROS environment and want an evaluation package

## When to avoid
- you need Python 3 support (only Python 2 is supported)
- you need real-time or online trajectory evaluation
- your task is general SLAM mapping quality rather than pose trajectory error
- you need evaluation of non-pose sensor outputs

## Facets
- artifact type: library
- maturity: maintenance
- function: benchmarking, data-visualization, math
- domain: robotics, computer-vision, developer-tools
- platform: python, cli
- tags: slam, visual-odometry, trajectory-evaluation, ate, relative-error, ros, research-tool, algorithms, linux

## Member repositories
- uzh-rpg/rpg_trajectory_evaluation (main) score 23

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:04:00.247978+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T06:18:01.834232+00:00, confidence not recorded.
  - readme: https://github.com/uzh-rpg/rpg_trajectory_evaluation (fetched 2026-08-28T04:04:00.247978+00:00, sha 9fce588dd030)
- Data as of 2026-08-30T08:39:29.467469+00:00.