1.Tools
rpg_trajectory_evaluation:https://github.com/uzh-rpg/rpg_trajectory_evaluation
2.prepare
install the latex tool:
sudo apt-get install texlive-full
clone the trajectory tool:
git clone git@github.com:uzh-rpg/rpg_trajectory_evaluation.git
3.do the compare
result dir:
stamped_groundtruth.txt # timestamp tx ty tz qx qy qz qw
stamped_traj_estimate.txt # timestamp tx ty tz qx qy qz qw
eval_cfg.yaml # config
eval_cfg.yaml:
align_type: posyaw
[posyaw]:VIO,+重力对齐
[sim3] :针对单目,相似变换
[se3] :针对双目,欧式变换
align_num_frames: -1
[num]:使用前num个数据进行对齐
[-1] :使用所有数据进行对齐
对Euorc数据集提供的真实轨迹数据,可使用dataset_tool中的asl_groundtruth_to_pose.pyj转换目标格式:
$ asl_groundtruth_to_pose.py data.txt # output groundtruth.txt
compare:
python2 analyze_trajectories.py <result dir>
4.result
以MSCKF计算的VIO全对齐结果为例进行测试,得到的结果文件如下:
/saved result
absolute_err_statistics_posyaw_-1.yaml
relative_error_statistics_9_0.yaml
relative_error_statistics_18_0.yaml
relative_error_statistics_27_0.yaml
relative_error_statistics_36_0.yaml
relative_error_statistics_45_0.yaml
cached_rel_err.pickle
/plots
rel_translation_error.pdf
rel_translation_error_perc.pdf
rel_yaw_error.pdf
rotation_error_posyaw_-1.pdf
scale_error_posyaw_-1.pdf
trajectory_side_posyaw_-1.pdf
trajectory_top_posyaw_-1.pdf
translation_error_posyaw_-1.pdf
example
trajectory_top_posyaw_-1.pdf
PS (use latex to write a paper):
install latex IDE(texmaker):
sudo apt-get install texmaker
# input 'texmaker' in the terminal can open the IDE
config the texmaker:
选项->配置Texmaker->命令->LaTeX:
xelatex -interaction=nonstopmode %.tex
选项->配置Texmaker->快速构造:
用Wizard向导添加“LaTex”和“PDF查看器”,添加完成后代码为:
xelatex -interaction=nonstopmode %.tex|evince %.pdf
使用xeCJK工具包
尽量选择中文专用字体
可以在libreoffice里面查看字体名称,例如AR PL UKai CN
在TeXmaker种输入:
\documentclass{article}
\usepackage{xeCJK}
\setCJKmainfont{AR PL UKai CN}
\begin{document}
这是中文
\end{document}
安装辅助工具:
sudo add-apt-repository ppa:lyx-devel/release
sudo apt-get update
sudo apt-get install lyx
中文设置
Required packages:
latex-cjk-all (does this require to run 'fc-cache -fv' ?)
LyX Document Settings:
Document→Settings→Language→Language: Chinese Simplified
Document→Settings→Language→Encoding→Other: UTF8: "Unicode (CJK) utf8"
Document→Settings→Fonts→CJK:
"bsmi" (AR PL Mingti2L Big5 font) or
"bkai" (AR PL KaitiM Big5 font).