Comparing with Kitti ground truth

Posted by ossome on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Comparing-with-Kitti-ground-truth-tp9257.html

How do I compare the trajectory generated from the mapping mode on rtabmap with that of the ground truth provided by Kitti.
In the paper "RTAB-Map as an Open-Source Lidar and Visual SLAM Library for Large-Scale and Long-Term Online Operation" a comparison was done between the results from Rtabmap and the groundtruth data. I am interested in recreating that comparison on my pc. I have created a map that has been stored as a .db file. How do I proceed with it?