EVO的使用

1. 安装:

pip install evo --upgrade --no-binary evo

 2. 使用

evo_ape - 用于评估绝对位姿误差;
evo_rpe- 用于评估相对位姿误差;
evo_traj - 这个主要是用来画轨迹、输出轨迹文件、转换数据格式等功能;
evo_res- 比较来自evo_ape或evo_rpe生成的一个或多个结果文件的工具;
evo_fig - (实验)工具,用于重新打开序列化图(使用–serialize_plot保存);
evo_config - 这个主要用于evo工具全局设置和配置文件操作。
原文链接:https://blog.csdn.net/u011341856/article/details/104594392

(1)evo_ape:绝对位姿误差

evo_ape tum ndt_pose.txt ground_truth.txt
  • max:表示最大误差;
  • mean:平均误差;
  • median:误差中位数;
  • min:最小误差;
  • rmse:均方根误差;
  • sse:和方差、误差平方和;
  • std:标准差。

参数:

-a   ---- 对齐

-p    ----绘图

 --n_to_align N_TO_ALIGN 10000  用于对齐的点数,默认全部

 evo_ape tum ndt_pose.txt ground_truth.txt -a -p --n_to_align 5000

--align_origin 

 -p, --plot            show plot window
  --plot_mode {xy,xz,yx,yz,zx,zy,xyz}
                        the axes for plot projection
  --plot_colormap_max PLOT_COLORMAP_MAX
                        the upper bound used for the color map plot (default:
                        maximum error value)

颜色图的最大值,0.1则表示绝对误差大于0.1的点都被标红;

evo_ape tum ndt_pose.txt ground_truth.txt -a --n_to_align 5000 --align_origin --plot --plot_colormap_max 0.1

  --plot_colormap_min PLOT_COLORMAP_MIN
                        the lower bound used for the color map plot (default:
                        minimum error value)
  --plot_colormap_max_percentile PLOT_COLORMAP_MAX_PERCENTILE
                        percentile of the error distribution to be used as the
                        upper bound of the color map plot (in %, overrides
                        --plot_colormap_max)
  --plot_full_ref       plot the full, unsynchronized reference trajectory
  --ros_map_yaml ROS_MAP_YAML
                        yaml file of an ROS 2D map image (.pgm/.png) that will
                        be drawn into the plot

可导入ROS栅格地图;
  --save_plot SAVE_PLOT
                        path to save plot
  --serialize_plot SERIALIZE_PLOT
                        path to serialize plot (experimental)
  --save_results SAVE_RESULTS
                        .zip file path to store results

注意为zip格式;
  --logfile LOGFILE     Local logfile path.

 (2) evo_rpe:相对位姿误差

该命令用于比较两个轨迹之间的相对轨迹误差,也就是两个时间戳相同时刻的轨迹轨迹误差,更具体来说,两组轨迹持续时间相同,但是采样频率不同,那么之间就会有一些少量的相同时间戳,那么这些相同的时间戳就可以进行一对一比较误差。同样的这些误差也会有平均误差、最大、最小误差等等结果。命令使用方法如下:

evo_rpe tum ground_truth.txt ndt_pose.txt

optional arguments:
  -h, --help            show this help message and exit
  --t_max_diff T_MAX_DIFF
                        maximum timestamp difference for data association
  --t_offset T_OFFSET   constant timestamp offset for data association
  --t_start T_START     only use data with timestamps greater or equal this
                        start time
  --t_end T_END         only use data with timestamps less or equal this end
                        time

algorithm options:
  -r {full,trans_part,rot_part,angle_deg,angle_rad,point_distance}, --pose_relation {full,trans_part,rot_part,angle_deg,angle_rad,point_distance}
                        pose relation on which the RPE is based
  -a, --align           alignment with Umeyama's method (no scale)
  -s, --correct_scale   correct scale with Umeyama's method
  --n_to_align N_TO_ALIGN
                        the number of poses to use for Umeyama alignment,
                        counted from the start (default: all)
  --align_origin        align the trajectory origin to the origin of the
                        reference trajectory
  -d DELTA, --delta DELTA
                        delta between relative poses
  -t DELTA_TOL, --delta_tol DELTA_TOL
                        relative delta tolerance for all_pairs mode
  -u {f,d,r,m}, --delta_unit {f,d,r,m}
                        unit of delta - `f` (frames), `d` (deg), `r` (rad),
                        `m`(meters)
  --all_pairs           use all pairs instead of consecutive pairs (disables
                        plot)

(3)  evo_traj用法:用于画轨迹图、表格,转换数据格式等等操作

evo_traj tum ndt_pose.txt imu_odom.txt  -a -p --align_origin --ref ground_truth.txt 

你可能感兴趣的:(多传感融合定位实战,自动驾驶,机器学习,深度学习)