Use evo

Use EVO

1. evo_traj: Draw the trajectory directly

(1) Draw tracks individually ：evo_traj tum KeyFrameTrajectory.txt -p
(2) Draw multiple tracks together : evo_traj tum KeyFrameTrajectory.txt CameraTrajectory2.txt --ref CameraTrajectory2.txt -va -p
perhaps ： evo_traj tum KeyFrameTrajectory.txt CameraTrajectory2.txt --ref KeyFrameTrajectory.txt -va -p

The reference tracks are different , So the tracks drawn by these two commands are not exactly the same ;

among ref It's a reference trajectory ,-va Is the details after alignment ,-p Is to draw an image

(3) You can also use –plot_mode {xy,xz,yx,yz,zx,zy,xyz} To select the information to draw a plane separately
Such as ：evo_traj tum KeyFrameTrajectory.txt CameraTrajectory2.txt --ref KeyFrameTrajectory.txt -va -p --plot_mode=xy

2. evo_ape: Calculation of absolute pose error

evo_ape tum KeyFrameTrajectory.txt KeyFrameTrajectory.txt -va -p

Use ape There is no need to give –ref The file of ,tum The latter first file is the standard file , That is to say ：evo_ape tum real .txt test .txt -va -p

3. evo_rpe: Calculation of relative pose error

evo_rpe tum KeyFrameTrajectory.txt KeyFrameTrajectory.txt -va -p

Use rpe There is no need to give –ref The file of ,tum The latter first file is the standard file , That is to say ：evo_rpe tum real .txt test .txt -va -p

4. The other parameters

Save the file as another type of file , You can use the following handles

–save_as_tum save trajectories in TUM format (as *.tum)
–save_as_kitti save poses in KITTI format (as *.kitti)
–save_as_bag save trajectories in ROS bag as .bag

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Save the picture

–save_plot “ Saved path ”

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Merge tracks

–merge

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Give the maximum timestamp difference of the data

–t_max_diff “ Specific differences ”