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1. install
https://github.com/ccxslam/rpg_trajectory_evaluation#install
下载catkin_simple:
https://github.com/catkin/catkin_simple 建立工作空间 src下载,编译,然后下载rpg_trajectory_evaluatio,编译安装即可。
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2.固定文件格式
stamped_groundtruth.txt
: groundtruth poses with timestampsstamped_traj_estimate.txt
: estimated poses with timestamps- (optional)
eval_cfg.yaml
: specify evaluation parameters
groundtruth 格式:
# timestamp tx ty tz qx qy qz qw
3.Evaluation parameters
Currently eval_cfg.yaml
specifies two parameters for trajectory alignment (used in absolute errors):
align_type
:sim3
: a similarity transformation (for vision-only monocular case)se3
: a rigid body transformation (for vision-only stereo case)posyaw
: a translation plus a rotation around gravity (for visual-inertial case)none
: do not align the trajectory
align_num_frames
: the number of poses (starting from the beginning) that will be used in the trajectory alignment.-1
means all poses will be used.
4 . Single trajectory estimate
As a ROS package, run
rosrun rpg_trajectory_evaluation analyze_trajectory_single.py <result_folder>
or as a standalone package, run
python2 analyze_trajectory_single.py <result_folder>
<result_folder>
should contain the groundtruth, trajectory estimate and optionally the evaluation configuration as mentioned above.
待续。。。。。