官方链接:http://ais.informatik.uni-freiburg.de/slamevaluation/software.php,只提供相对位姿变换关系的评估。
一. 下载完源包后,直接make编译。碰到错误:
linalg/runtimeError.cpp:49:43: error: ‘vasprintf’ was not declared in this scope
int b = vasprintf(&auxPtr, fmt, arg_list);
^
Makefile:25: recipe for target 'linalg/runtimeError.o' failed
runtimeError.h文件中加入头文件即可:
#include <stdio.h>
#include <stdarg.h>
二. 操作命令:
Usage: ./metricEvaluator [options]
Options:
-s <name> slam log file containing ROBOTLASER1 data
-r <relations> the relations file
-o <odometry> raw odometry log file
-w "{wx, wy, wz, wphi, wtheta, wpsi}" the error weight vector