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SLAM精度测评——rpg_trajectory_evaluatio

程序员文章站 2022-04-16 20:33:30
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  • 1.  install

https://github.com/ccxslam/rpg_trajectory_evaluation#install

下载catkin_simplehttps://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。

  • 2.固定文件格式

  • stamped_groundtruth.txt: groundtruth poses with timestamps
  • stamped_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.

SLAM精度测评——rpg_trajectory_evaluatio

待续。。。。。