SLAM精度測評——rpg_trajectory_evaluatio

• 1.  install

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

下載catkin_simple：https://github.com/catkin/catkin_simple　建立工作空間　src下載，編譯，然後下載rpg_trajectory_evaluatio,編譯安裝即可。

• 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.

待續。。。。。