一文详解视觉里程计轨迹评估工具-evo的用法
作者:互联网
evo是一款用于视觉里程计和slam问题的轨迹评估工具。核心功能是能够绘制相机的轨迹,或评估估计轨迹与真值的误差。支持多种数据集的轨迹格式(TUM、KITTI、EuRoC MAV、ROS的bag),同时支持这些数据格式之间进行相互转换。参考:视觉里程计的轨迹评估工具:evo
一 evo安装
打开终端,输入:
pip install evo --upgrade --no-binary evo
evo常用指令:
Metrics:
- evo_ape - absolute pose error 绝对轨迹误差
- evo_rpe - relative pose error 相对轨迹误差
Tools:
- evo_traj -tool for analyzing,plotting or exporting one or more trajectories
- evo_res -tool for compare one or multiple result files from evo_ape or evo_rpe
- evo_fig -(experimental)tool for re-opening serialized plots(saved with --serialize_plot)
- evo_config -tool for global settings and config file manipulation
二 Examples for evo usages
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plot multiple trajectories
evo_traj tum uwb-data-estimation.txt uwb-data-output.txt --ref=uwb-ground-truth.txt -p --plot_mode=xy -a
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calculate the absolute pose error for two trajectories using evo_ape(uwb-data-estimation is the reference (groundtruth))
evo_ape tum uwb-data-estimation.txt uwb-data-output.txt -va --plot --plot_mode xy --save_results results/uwb.zip
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evo_res can be used to compare multiple result files from the metrics, ie.:
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print infos and statistics(defult)
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plot the results
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save the statistics in a table
evo_res results/*.zip -p --save_table results/table.csv
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标签:plot,轨迹,evo,--,results,里程计,详解,uwb 来源: https://blog.csdn.net/Yong_Qi2015/article/details/114595007