一文详解视觉里程计轨迹评估工具-evo的用法

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

• plot multiple trajectories

  evo_traj tum uwb-data-estimation.txt uwb-data-output.txt --ref=uwb-ground-truth.txt -p --plot_mode=xy -a
  

  

• 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
  

  

• evo_res can be used to compare multiple result files from the metrics, ie.:

  • print infos and statistics(defult)

  • plot the results

  • save the statistics in a table

    evo_res results/*.zip -p --save_table results/table.csv