evo:评测slam参数设置

Posted 2022-03-15 feifanrensheng

[email protected]:~$ evo_ape euroc m1/state_groundtruth_estimate0/data.csv pl-svo-master2/trajout.txt -angle_deg -as --plot
usage: evo_ape euroc [-h] [-r full,trans_part,rot_part,angle_deg,angle_rad]
                     [-a] [-s] [--align_origin] [-p]
                     [--plot_mode xy,xz,yx,yz,zx,zy,xyz]
                     [--plot_colormap_max PLOT_COLORMAP_MAX]
                     [--plot_colormap_min PLOT_COLORMAP_MIN]
                     [--plot_colormap_max_percentile PLOT_COLORMAP_MAX_PERCENTILE]
                     [--plot_full_ref] [--save_plot SAVE_PLOT]
                     [--serialize_plot SERIALIZE_PLOT]
                     [--save_results SAVE_RESULTS] [--logfile LOGFILE]
                     [--no_warnings] [-v] [--silent] [--debug] [-c CONFIG]
                     [--t_max_diff T_MAX_DIFF] [--t_offset T_OFFSET]
                     state_gt_csv est_file
evo_ape euroc: error: argument -a/--align: ignored explicit argument ‘ngle_deg‘

[email protected]:~$ evo_ape euroc m1/state_groundtruth_estimate0/data.csv pl-svo-master2/trajout.txt -r angle_rad -as --plot
APE w.r.t. rotation angle in radians (rad)
(with Sim(3) Umeyama alignment)

       max    1.570765
      mean    1.536385
    median    1.538361
       min    1.504521
      rmse    1.536477
       sse    1532.135123
       std    0.016815