Learning outcomes
- Run one pair through EPA
- Understand metrics.json, metrics_summary.csv, and summary.csv
- Record alignment mode and timestamp tolerance
Beginner explanation
EPA compares the estimated trajectory against ground truth and writes machine-readable metrics and plots.
If EPA cannot associate timestamps or parse a trajectory, keep the public value as TBD or Unresolved.
Expert checks
ATE, RPE, drift rate, and success rate depend on association and alignment policy. Publish the policy with the metric row.
OpenVINS-style ov_eval commands are compatibility references. EPA remains the primary pipeline for public results.
Practice task
Run epa <gt_file> <est_file>, then identify metrics.json, metrics_summary.csv, plots, and command metadata.