支持的类型
'TUM' trajectory files
t tx
ty tz
qx
qy
qz
qw
'KITTI' pose files
'EuRoC MAV' (.csv groundtruth and TUM trajectory file)
ROS bagfile
geometry_msgs/PoseStamped
geometry_msgs/TransformStamped
geometry_msgs/PoseWithCovarianceStamped
nav_msgs/Odometry
topics
evo_traj
tool for analyzing, plotting or exporting one or more trajectories
evo_traj 数据集类型 数据集1 数据集2 --ref=参考数据集 -p --plot_mode=xz
-v
/
--verbose : 显示详细的轨迹信息
--full_check flag. This performs some math and logic checks - e.g. if the quaternions have unit norm or if the timestamps are ascending. Some speed values are shown as well (except for kitti where we don't have timestamps).
-as 等价于 --align --correct_scale
evo_ape - absolute pose error
evo_ape
数据集类型
数据集1 数据集2 -va --plot_mode xz
--save_results 存储目录/*.zip
--ref
-a / --align 自动对齐
-s / --correct_scale 尺度校准
--n_to_align
evo_rpe - relative pose error
evo_res - tool for comparing 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