Trajectory Compare

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).