Dense Geometry Evaluation

[HaihangWu]

Hi:
Many thanks for the great project. Anyone knows how to evaluate the reconstruction quality and get results in Table 3 below?
Table3.Reconstruction Evaluationon7-Scenes and EuRoC with all metrics in metres.
7-scenes ATE Accuracy Completion Chamfer
DROID-SLAM0.049 0.115 0.040 0.077
Spann3R@20 N/A 0.069 0.047 0.058
Spann3R@2 N/A 0.124 0.043 0.084
Ours 0.047 0.074 0.057 0.066
Ours* 0.066 0.068 0.045 0.056
EuRoC ATE Accuracy Completion Chamfer
DROID-SLAM0.022 0.173 0.061 0.117
Ours 0.041 0.099 0.071 0.085
Ours* 0.164 0.108 0.072 0.090