| # SpectralGV + EgoNN | |
| ## Usage | |
| - Clone the [EgoNN](https://github.com/jac99/Egonn) codebase into this directory. | |
| ``` | |
| git clone https://github.com/jac99/Egonn.git | |
| ``` | |
| - Copy our re-ranking eval script into the EgoNN code base: | |
| ``` | |
| cp -r SGV_EgoNN/ Egonn/eval/ | |
| cd Egonn/eval/SGV_EgoNN/ | |
| ``` | |
| - Evaluate place recognition and metric localization with and without *SpectralGV* re-ranking: | |
| ``` | |
| python eval_egonn_sgv.py --dataset_type <dataset_eg_'kitti'> --dataset_root <dataset_root_path> | |
| ``` |