Add evaluation table and overview video to README

M_monado_datasets/MI_valve_index/MIP_playing/MIPB_beat_saber/README.md

@@ -0,0 +1,12 @@
+For unzipping the multipart dataset MIBP08 you can either use the `7z` command
+
+```bash
+7z x MIPB08_beatsaber_long_session_1.zip
+```
+
+Or, the `unzip` command, but since it doesn't support multipart files, you will need create an intermediary file with `zip` like this:
+
+```bash
+zip -F MIPB08_beatsaber_long_session_1.zip --out MIPB08.zip
+unzip MIPB08.zip
+```

M_monado_datasets/MI_valve_index/extras/previews/overview.webm

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc4d3ebe433907acd4e8595448e5872acef1b9fea8d6c8ed72e61cef07ea011b
+size 752815

README.md

@@ -2,7 +2,16 @@
 license: cc-by-4.0
 ---
 
-![Monado SLAM Datasets cover image](M_monado_datasets/extras/cover.png)
+<img alt="Monado SLAM Datasets cover image"
+src="/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/extras/cover.png"
+style="width: 720px;">
+
+<a href="https://youtu.be/kIddwk1FrW8" target="_blank">
+<video width="720" height="240" autoplay muted loop playsinline
+preload="auto"><source
+src="https://huggingface.co/datasets/collabora/monado-slam-datasets/resolve/main/M_monado_datasets/MI_valve_index/extras/previews/overview.webm"
+type="video/webm"/>Video tag not supported.</video>
+</a>
 
 # Monado SLAM Datasets
 
@@ -285,6 +294,74 @@ post-processing of the dataset, below is a video detailing the procedure for the
   short and lightweight datasets for quick testing, and some datasets with a lot
   of movement around the environment.
 
+### Evaluation
+
+These are the results of running the
+[current](https://gitlab.freedesktop.org/mateosss/basalt/-/commits/release-b67fa7a4?ref_type=tags)
+Monado tracker that is based on
+[Basalt](https://gitlab.com/VladyslavUsenko/basalt) on the dataset sequences.
+
+| Seq.    | Avg. time\*      | Avg. feature count    | ATE (m)           | RTE 100ms (m) \*\*      | SDM 0.01m (m/m) \*\*\* |
+| :------ | :--------------- | :-------------------- | :---------------- | :---------------------- | :--------------------- |
+| MIC01   | 12.24 ± 2.84     | [48 6] ± [72 6]       | 0.076 ± 0.049     | 0.016551 ± 0.015004     | 0.7407 ± 0.5757        |
+| MIC02   | 12.30 ± 2.60     | [33 7] ± [54 11]      | 0.043 ± 0.028     | 0.012375 ± 0.011230     | 0.5788 ± 0.4279        |
+| MIC03   | 15.89 ± 8.55     | [60 8] ± [107 13]     | 0.048 ± 0.032     | 0.011344 ± 0.009992     | 0.6020 ± 0.3987        |
+| MIC04   | 15.26 ± 2.84     | [65 9] ± [54 11]      | 0.028 ± 0.016     | 0.005458 ± 0.003976     | 0.2808 ± 0.2033        |
+| MIC05   | 16.10 ± 2.82     | [73 5] ± [69 6]       | 0.023 ± 0.013     | 0.004795 ± 0.003358     | 0.2547 ± 0.1611        |
+| MIC06   | 14.14 ± 2.42     | [40 7] ± [53 10]      | 0.015 ± 0.005     | 0.003947 ± 0.003454     | 0.2875 ± 0.2542        |
+| MIC07   | 13.42 ± 2.63     | [46 9] ± [64 12]      | 0.036 ± 0.014     | 0.012776 ± 0.011853     | 0.5520 ± 0.3463        |
+| MIC08   | 13.89 ± 2.86     | [53 5] ± [62 5]       | 0.082 ± 0.062     | 0.022429 ± 0.020956     | 0.8559 ± 0.6402        |
+| MIC09   | 12.73 ± 2.52     | [63 21] ± [37 12]     | 0.008 ± 0.003     | 0.001492 ± 0.001318     | 0.2388 ± 0.3589        |
+| MIC10   | 14.49 ± 2.51     | [50 5] ± [51 5]       | 0.019 ± 0.012     | 0.003783 ± 0.003116     | 0.2666 ± 0.3451        |
+| MIC11   | 13.72 ± 2.37     | [26 6] ± [39 7]       | 0.017 ± 0.010     | 0.009898 ± 0.009069     | 0.4331 ± 0.3278        |
+| MIC12   | 14.92 ± 2.56     | [38 4] ± [48 5]       | 0.024 ± 0.010     | 0.005816 ± 0.004644     | 0.2932 ± 0.2500        |
+| MIC13   | 13.99 ± 3.07     | [53 10] ± [79 15]     | 0.029 ± 0.021     | 0.015463 ± 0.014354     | 0.8668 ± 0.9353        |
+| MIC14   | 13.67 ± 2.39     | [24 5] ± [36 8]       | 0.047 ± 0.012     | 0.007224 ± 0.006359     | 0.4577 ± 0.3446        |
+| MIC15   | 14.17 ± 2.81     | [76 17] ± [43 9]      | 0.016 ± 0.013     | 0.003837 ± 0.003543     | 0.2593 ± 0.1936        |
+| MIC16   | 14.27 ± 2.43     | [48 8] ± [44 6]       | 0.008 ± 0.005     | 0.003867 ± 0.003725     | 0.5167 ± 0.4840        |
+| MIO01   | 10.04 ± 1.43     | [36 23] ± [28 18]     | 0.605 ± 0.342     | 0.035671 ± 0.033611     | 0.4246 ± 0.5161        |
+| MIO02   | 10.41 ± 1.48     | [32 18] ± [25 16]     | 1.182 ± 0.623     | 0.063340 ± 0.059176     | 0.4681 ± 0.4329        |
+| MIO03   | 10.24 ± 1.37     | [47 26] ± [26 16]     | 0.087 ± 0.033     | 0.006293 ± 0.004259     | 0.2113 ± 0.2649        |
+| MIO04   | 9.47 ± 1.08      | [27 16] ± [25 16]     | 0.210 ± 0.100     | 0.013121 ± 0.010350     | 0.3086 ± 0.3715        |
+| MIO05   | 9.95 ± 1.01      | [66 34] ± [33 21]     | 0.040 ± 0.016     | 0.003188 ± 0.002192     | 0.1079 ± 0.1521        |
+| MIO06   | 9.65 ± 1.06      | [44 28] ± [33 22]     | 0.049 ± 0.019     | 0.010454 ± 0.008578     | 0.2620 ± 0.3684        |
+| MIO07   | 9.63 ± 1.16      | [46 26] ± [30 19]     | 0.019 ± 0.008     | 0.002442 ± 0.001355     | 0.0738 ± 0.0603        |
+| MIO08   | 9.74 ± 0.87      | [29 22] ± [18 16]     | 0.059 ± 0.021     | 0.007167 ± 0.004657     | 0.1644 ± 0.3433        |
+| MIO09   | 9.94 ± 0.72      | [44 29] ± [14 8]      | 0.006 ± 0.003     | 0.002940 ± 0.002024     | 0.0330 ± 0.0069        |
+| MIO10   | 9.48 ± 0.82      | [35 21] ± [18 10]     | 0.016 ± 0.009     | 0.004623 ± 0.003310     | 0.0620 ± 0.0340        |
+| MIO11   | 9.34 ± 0.79      | [32 20] ± [19 10]     | 0.024 ± 0.010     | 0.007255 ± 0.004821     | 0.0854 ± 0.0540        |
+| MIO12   | 11.05 ± 2.20     | [43 23] ± [31 19]     | 0.420 ± 0.160     | 0.005298 ± 0.003603     | 0.1546 ± 0.2641        |
+| MIO13   | 10.47 ± 1.89     | [35 21] ± [24 18]     | 0.665 ± 0.290     | 0.026294 ± 0.022790     | 1.0180 ± 1.0126        |
+| MIO14   | 9.27 ± 1.03      | [49 31] ± [30 21]     | 0.072 ± 0.028     | 0.002779 ± 0.002487     | 0.1657 ± 0.2409        |
+| MIO15   | 9.75 ± 1.16      | [52 26] ± [29 16]     | 0.788 ± 0.399     | 0.011558 ± 0.010541     | 0.6906 ± 0.6876        |
+| MIO16   | 9.72 ± 1.26      | [33 17] ± [25 15]     | 0.517 ± 0.135     | 0.013268 ± 0.011355     | 0.4397 ± 0.7167        |
+| MIPB01  | 10.28 ± 1.25     | [63 46] ± [34 24]     | 0.282 ± 0.109     | 0.006797 ± 0.004551     | 0.1401 ± 0.1229        |
+| MIPB02  | 9.88 ± 1.08      | [55 37] ± [30 20]     | 0.247 ± 0.097     | 0.005065 ± 0.003514     | 0.1358 ± 0.1389        |
+| MIPB03  | 10.21 ± 1.12     | [66 44] ± [32 23]     | 0.186 ± 0.103     | 0.005938 ± 0.004261     | 0.1978 ± 0.3590        |
+| MIPB04  | 9.58 ± 1.02      | [51 37] ± [24 17]     | 0.105 ± 0.060     | 0.004822 ± 0.003428     | 0.0652 ± 0.0555        |
+| MIPB05  | 9.97 ± 0.97      | [73 48] ± [32 23]     | 0.039 ± 0.017     | 0.004426 ± 0.002828     | 0.0826 ± 0.1313        |
+| MIPB06  | 9.95 ± 0.85      | [58 35] ± [32 21]     | 0.050 ± 0.022     | 0.004164 ± 0.002638     | 0.0549 ± 0.0720        |
+| MIPB07  | 10.07 ± 1.00     | [73 47] ± [31 20]     | 0.064 ± 0.038     | 0.004984 ± 0.003170     | 0.0785 ± 0.1411        |
+| MIPB08  | 9.97 ± 1.08      | [71 47] ± [36 24]     | 0.636 ± 0.272     | 0.004066 ± 0.002556     | 0.0740 ± 0.0897        |
+| MIPP01  | 10.03 ± 1.21     | [36 22] ± [21 15]     | 0.559 ± 0.241     | 0.009227 ± 0.007765     | 0.3472 ± 0.9075        |
+| MIPP02  | 10.19 ± 1.20     | [42 22] ± [22 15]     | 0.257 ± 0.083     | 0.011046 ± 0.010201     | 0.5014 ± 0.7665        |
+| MIPP03  | 10.13 ± 1.24     | [37 20] ± [23 15]     | 0.260 ± 0.101     | 0.008636 ± 0.007166     | 0.3205 ± 0.5786        |
+| MIPP04  | 9.74 ± 1.09      | [38 23] ± [22 16]     | 0.256 ± 0.144     | 0.007847 ± 0.006743     | 0.2586 ± 0.4557        |
+| MIPP05  | 9.71 ± 0.84      | [37 24] ± [21 15]     | 0.193 ± 0.086     | 0.005606 ± 0.004400     | 0.1670 ± 0.2398        |
+| MIPP06  | 9.92 ± 3.11      | [37 21] ± [21 14]     | 0.294 ± 0.136     | 0.009794 ± 0.008873     | 0.4016 ± 0.5648        |
+| MIPT01  | 10.78 ± 2.06     | [68 44] ± [33 23]     | 0.108 ± 0.060     | 0.003995 ± 0.002716     | 0.7109 ± 13.3461       |
+| MIPT02  | 10.85 ± 1.27     | [79 54] ± [39 28]     | 0.198 ± 0.109     | 0.003709 ± 0.002348     | 0.0839 ± 0.1175        |
+| MIPT03  | 10.80 ± 1.55     | [76 52] ± [42 30]     | 0.401 ± 0.206     | 0.005623 ± 0.003694     | 0.1363 ± 0.1789        |
+| **AVG** | **11.33 ± 1.83** | **[49 23] ± [37 15]** | **0.192 ± 0.090** | **0.009439 ± 0.007998** | **0.3247 ± 0.6130**    |
+
+- \*: Average frame time. On an AMD Ryzen 7 5800X CPU. Run with pipeline fully
+  saturated. Real time operation frame times should be slightly lower.
+- \*\*: RTE using delta of 6 frames (11ms)
+- \*\*\*: The SDM metric is similar to RTE, it represents distance in meters
+  drifted for each meter of the dataset. The metric is implemented in the
+  [xrtslam-metrics](https://gitlab.freedesktop.org/mateosss/xrtslam-metrics)
+  project.
+
 ## License
 
 This work is licensed under a <a rel="license" href="http://creativecommons.org/licenses/by/4.0/">Creative Commons Attribution 4.0 International License</a>.