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evo-master.zip 大约有214个文件
  1. evo-master/
  2. evo-master/.ci/
  3. evo-master/.ci/debian_install_pip3.sh 59B
  4. evo-master/.ci/release.sh 908B
  5. evo-master/.ci/ros_entrypoint.sh 72B
  6. evo-master/.ci/ros_run_tests.sh 93B
  7. evo-master/.ci/run_yapf.sh 328B
  8. evo-master/.dockerignore 39B
  9. evo-master/.github/
  10. evo-master/.github/ISSUE_TEMPLATE/
  11. evo-master/.github/ISSUE_TEMPLATE/error-report.md 724B
  12. evo-master/.github/ISSUE_TEMPLATE/feature_request.md 560B
  13. evo-master/.github/ISSUE_TEMPLATE/question-about-a-concept.md 88B
  14. evo-master/.github/stale.yaml 893B
  15. evo-master/.gitignore 1.23KB
  16. evo-master/.pylintrc 71B
  17. evo-master/.style.yapf 137B
  18. evo-master/Dockerfile.ros-jazzy 1.66KB
  19. evo-master/Dockerfile.rosnoetic 1.27KB
  20. evo-master/LICENSE 34.32KB
  21. evo-master/README.md 11.38KB
  22. evo-master/_config.yml 26B
  23. evo-master/azure-pipelines.yml 2.28KB
  24. evo-master/contrib/
  25. evo-master/contrib/README.md 98B
  26. evo-master/contrib/kitti_poses_and_timestamps_to_trajectory.py 1.55KB
  27. evo-master/contrib/multiply_timestamps.py 666B
  28. evo-master/contrib/print_duplicate_timestamps.sh 235B
  29. evo-master/contrib/record_tf_as_posestamped_bag.py 4.25KB
  30. evo-master/contrib/rename_est_name.py 611B
  31. evo-master/doc/
  32. evo-master/doc/alignment_demo.py 2.65KB
  33. evo-master/doc/assets/
  34. evo-master/doc/assets/ape_demo_ORB_map.png 48.34KB
  35. evo-master/doc/assets/ape_demo_ORB_raw.png 46.59KB
  36. evo-master/doc/assets/ape_demo_S-PTAM_map.png 50.23KB
  37. evo-master/doc/assets/ape_demo_S-PTAM_raw.png 42.83KB
  38. evo-master/doc/assets/keep_unchanged.png 30.47KB
  39. evo-master/doc/assets/length_unit_km.png 21.96KB
  40. evo-master/doc/assets/length_unit_km_xyz.png 30.28KB
  41. evo-master/doc/assets/map_tile_osm.png 353.75KB
  42. evo-master/doc/assets/markers.png 63.05KB
  43. evo-master/doc/assets/pose_corr_markers.png 113.36KB
  44. evo-master/doc/assets/projection_demo_projected.png 69.33KB
  45. evo-master/doc/assets/projection_demo_unprojected.png 69.56KB
  46. evo-master/doc/assets/res_box.png 14.79KB
  47. evo-master/doc/assets/res_dist.png 20.16KB
  48. evo-master/doc/assets/res_raw.png 81.46KB
  49. evo-master/doc/assets/res_stats.png 16.25KB
  50. evo-master/doc/assets/res_violin.png 39.32KB
  51. evo-master/doc/assets/ros_map.png 94.35KB
  52. evo-master/doc/assets/start_end_markers.png 35.72KB
  53. evo-master/doc/assets/traj_demo.png 93.48KB
  54. evo-master/doc/assets/traj_demo_xyz.png 104.89KB
  55. evo-master/doc/assets/update.png 41.2KB
  56. evo-master/doc/assets/zoom_to_map.png 36.48KB
  57. evo-master/doc/examples/
  58. evo-master/doc/examples/config_ape.example.json 212B
  59. evo-master/doc/examples/config_rpe-for-each.example.json 172B
  60. evo-master/doc/examples/config_rpe.example.json 296B
  61. evo-master/doc/examples/custom_app.py 2.28KB
  62. evo-master/doc/install_in_virtualenv.md 2.47KB
  63. evo-master/doc/jupyter_notebook.md 1.06KB
  64. evo-master/doc/performance.md 2.17KB
  65. evo-master/evo/
  66. evo-master/evo/LICENSE 34.32KB
  67. evo-master/evo/__init__.py 583B
  68. evo-master/evo/common_ape_rpe.py 9.39KB
  69. evo-master/evo/core/
  70. evo-master/evo/core/__init__.py
  71. evo-master/evo/core/filters.py 8.02KB
  72. evo-master/evo/core/geometry.py 3.32KB
  73. evo-master/evo/core/lie_algebra.py 6.85KB
  74. evo-master/evo/core/metrics.py 18.47KB
  75. evo-master/evo/core/result.py 4.64KB
  76. evo-master/evo/core/sync.py 4.53KB
  77. evo-master/evo/core/trajectory.py 21.6KB
  78. evo-master/evo/core/transformations.py 64.65KB
  79. evo-master/evo/core/units.py 1.33KB
  80. evo-master/evo/entry_points.py 3.67KB
  81. evo-master/evo/ipython_config.py 22.63KB
  82. evo-master/evo/main_ape.py 6.57KB
  83. evo-master/evo/main_ape_parser.py 7.93KB
  84. evo-master/evo/main_config.py 12.88KB
  85. evo-master/evo/main_evo.py 6.57KB
  86. evo-master/evo/main_fig.py 3.59KB
  87. evo-master/evo/main_ipython.py 2.53KB
  88. evo-master/evo/main_res.py 9.69KB
  89. evo-master/evo/main_res_parser.py 2.66KB
  90. evo-master/evo/main_rpe.py 7.92KB
  91. evo-master/evo/main_rpe_parser.py 8.64KB
  92. evo-master/evo/main_traj.py 20.9KB
  93. evo-master/evo/main_traj_parser.py 8.3KB
  94. evo-master/evo/tools/
  95. evo-master/evo/tools/__init__.py
  96. evo-master/evo/tools/_typing.py 846B
  97. evo-master/evo/tools/contextily_helper.py 3.5KB
  98. evo-master/evo/tools/file_interface.py 21.65KB
  99. evo-master/evo/tools/log.py 3.89KB
  100. evo-master/evo/tools/pandas_bridge.py 5.43KB
  101. evo-master/evo/tools/plot.py 37.02KB
  102. evo-master/evo/tools/settings.py 4.85KB
  103. evo-master/evo/tools/settings_template.py 8.56KB
  104. evo-master/evo/tools/tf_cache.py 12.48KB
  105. evo-master/evo/tools/tf_id.py 2.3KB
  106. evo-master/evo/tools/user.py 1.31KB
  107. evo-master/notebooks/
  108. evo-master/notebooks/metrics.py_API_Documentation.ipynb 20.11KB
  109. evo-master/notebooks/metrics_interactive.ipynb 10.3KB
  110. evo-master/notebooks/metrics_tutorial.ipynb 727B
  111. evo-master/notebooks/pandas_bridge.ipynb 5.31KB
  112. evo-master/pyproject.toml 1.84KB
  113. evo-master/test/
  114. evo-master/test/ape_rpe_smoke_test.py 1002B
  115. evo-master/test/cfg/
  116. evo-master/test/cfg/ape_rpe/
  117. evo-master/test/cfg/ape_rpe/all_pairs_deg.json 316B
  118. evo-master/test/cfg/ape_rpe/all_pairs_frames.json 316B
  119. evo-master/test/cfg/ape_rpe/all_pairs_meters.json 316B
  120. evo-master/test/cfg/ape_rpe/all_pairs_plot.json 389B
  121. evo-master/test/cfg/ape_rpe/all_pairs_rad.json 318B
  122. evo-master/test/cfg/ape_rpe/n_to_align.json 339B
  123. evo-master/test/cfg/ape_rpe/not_aligned.json 319B
  124. evo-master/test/cfg/ape_rpe/origin_aligned.json 29B
  125. evo-master/test/cfg/ape_rpe/pairs_from_reference.json 222B
  126. evo-master/test/cfg/ape_rpe/se3_aligned.json 318B
  127. evo-master/test/cfg/ape_rpe/sim3_aligned.json 317B
  128. evo-master/test/cfg/ape_rpe/t_offset.json 320B
  129. evo-master/test/cfg/ape_rpe/write_assets_xy.json 508B
  130. evo-master/test/cfg/ape_rpe/write_assets_xyz.json 536B
  131. evo-master/test/cfg/res/
  132. evo-master/test/cfg/res/merge.json 311B
  133. evo-master/test/cfg/res/use_filenames.json 29B
  134. evo-master/test/cfg/res/use_rel_time.json 28B
  135. evo-master/test/cfg/res/write_assets.json 292B
  136. evo-master/test/cfg/tf/
  137. evo-master/test/cfg/tf/tf.json 91B
  138. evo-master/test/cfg/traj/
  139. evo-master/test/cfg/traj/bag/
  140. evo-master/test/cfg/traj/bag/export.json 106B
  141. evo-master/test/cfg/traj/bag/merge.json 351B
  142. evo-master/test/cfg/traj/common/
  143. evo-master/test/cfg/traj/common/align_100.json 353B
  144. evo-master/test/cfg/traj/common/full_check.json 349B
  145. evo-master/test/cfg/traj/common/not_aligned.json 353B
  146. evo-master/test/cfg/traj/common/origin_aligned.json 28B
  147. evo-master/test/cfg/traj/common/plot_specialities.json 72B
  148. evo-master/test/cfg/traj/common/se3_aligned.json 352B
  149. evo-master/test/cfg/traj/common/sim3_aligned.json 350B
  150. evo-master/test/cfg/traj/common/sync.json 21B
  151. evo-master/test/cfg/traj/common/write_assets_xy.json 602B
  152. evo-master/test/cfg/traj/common/write_assets_xyz.json 603B
  153. evo-master/test/cfg/traj/euroc/
  154. evo-master/test/cfg/traj/euroc/export.json 107B
  155. evo-master/test/cfg/traj/kitti/
  156. evo-master/test/cfg/traj/kitti/export.json 54B
  157. evo-master/test/cfg/traj/tum/
  158. evo-master/test/cfg/traj/tum/export.json 107B
  159. evo-master/test/cfg/traj/tum/merge.json 351B
  160. evo-master/test/data/
  161. evo-master/test/data/.gitignore 9B
  162. evo-master/test/data/KITTI_00_ORB.txt 673.08KB
  163. evo-master/test/data/KITTI_00_SPTAM.txt 1.32MB
  164. evo-master/test/data/KITTI_00_gt.txt 711.79KB
  165. evo-master/test/data/KITTI_00_gt_times.txt 57.65KB
  166. evo-master/test/data/ROS_example.bag 3.54MB
  167. evo-master/test/data/V102.txt 159.65KB
  168. evo-master/test/data/V102_groundtruth.csv 2.71MB
  169. evo-master/test/data/fr2_desk_ORB.txt 296.26KB
  170. evo-master/test/data/fr2_desk_ORB_kf_mono.txt 13.94KB
  171. evo-master/test/data/fr2_desk_groundtruth.txt 1.35MB
  172. evo-master/test/data/freiburg1_xyz-ORB_kf_mono.txt 2.81KB
  173. evo-master/test/data/freiburg1_xyz-groundtruth.txt 196.39KB
  174. evo-master/test/data/freiburg1_xyz-rgbdslam.txt 63.95KB
  175. evo-master/test/data/freiburg1_xyz-rgbdslam_drift.txt 63.87KB
  176. evo-master/test/data/freiburg1_xyz-rgbdslam_drift_short.txt 3.24KB
  177. evo-master/test/data/georeferenced.tum 196.5KB
  178. evo-master/test/data/res_files/
  179. evo-master/test/data/res_files/orb_ape.zip 36.27KB
  180. evo-master/test/data/res_files/orb_rpe-for-each.zip 1.09KB
  181. evo-master/test/data/res_files/orb_rpe.zip 3.59KB
  182. evo-master/test/data/res_files/sptam_ape.zip 36.27KB
  183. evo-master/test/data/res_files/sptam_rpe-for-each.zip 1.08KB
  184. evo-master/test/data/res_files/sptam_rpe.zip 3.6KB
  185. evo-master/test/data/tf_example.bag 33.3KB
  186. evo-master/test/data/tf_example/
  187. evo-master/test/data/tf_example/metadata.yaml 1.03KB
  188. evo-master/test/data/tf_example/tf_example.db3 104KB
  189. evo-master/test/demos/
  190. evo-master/test/demos/.gitignore 87B
  191. evo-master/test/demos/ape_demo.sh 1.32KB
  192. evo-master/test/demos/clean.sh 204B
  193. evo-master/test/demos/config_demo.sh 989B
  194. evo-master/test/demos/example.tex 596B
  195. evo-master/test/demos/latex_demo.sh 751B
  196. evo-master/test/demos/res_demo.sh 1.05KB
  197. evo-master/test/demos/rpe_demo.sh 1.43KB
  198. evo-master/test/demos/traj_demo.sh 1.43KB
  199. evo-master/test/helpers.py 1.33KB
  200. evo-master/test/res_smoke_test.py 901B
  201. evo-master/test/run_all_demos.sh 422B
  202. evo-master/test/test_file_interface.py 9.53KB
  203. evo-master/test/test_filters.py 6.9KB
  204. evo-master/test/test_lie_algebra.py 5.91KB
  205. evo-master/test/test_pandas_bridge.py 1.58KB
  206. evo-master/test/test_result.py 2.78KB
  207. evo-master/test/test_sync.py 3.33KB
  208. evo-master/test/test_trajectory.py 11.31KB
  209. evo-master/test/traj_smoke_test.py 1.89KB
  210. evo-master/test/tum_benchmark_tools/
  211. evo-master/test/tum_benchmark_tools/README.md 242B
  212. evo-master/test/tum_benchmark_tools/associate.py 5.22KB
  213. evo-master/test/tum_benchmark_tools/evaluate_ate.py 8.27KB
  214. evo-master/test/tum_benchmark_tools/evaluate_rpe.py 15.07KB

资源介绍:

evo-master.zip
# evo ***Python package for the evaluation of odometry and SLAM*** | Linux / macOS / Windows / ROS / ROS2 | | :---: | | [![Build Status](https://dev.azure.com/michl2222/michl2222/_apis/build/status/MichaelGrupp.evo?branchName=master)](https://dev.azure.com/michl2222/michl2222/_build/latest?definitionId=1&branchName=master) | This package provides executables and a small library for handling, evaluating and comparing the trajectory output of odometry and SLAM algorithms. Supported trajectory formats: * 'TUM' trajectory files * 'KITTI' pose files * 'EuRoC MAV' (.csv groundtruth and TUM trajectory file) * ROS and ROS2 bagfile with `geometry_msgs/PoseStamped`, `geometry_msgs/TransformStamped`, `geometry_msgs/PoseWithCovarianceStamped`, `geometry_msgs/PointStamped` or `nav_msgs/Odometry` topics or [TF messages](https://github.com/MichaelGrupp/evo/wiki/Formats#bag---ros-bagfile) See [here](https://github.com/MichaelGrupp/evo/wiki/Formats) for more infos about the formats. evo evo evo evo --- ## Why? evo has several advantages over other public benchmarking tools: * common tools for different formats * algorithmic options for association, alignment, scale adjustment for monocular SLAM etc. * flexible options for output, [plotting](https://github.com/MichaelGrupp/evo/wiki/Plotting) or export (e.g. LaTeX plots or Excel tables) * a powerful, configurable CLI that can cover many use cases * modular `core` and `tools` libraries for custom extensions * faster than other established Python-based tools ([see here](https://github.com/MichaelGrupp/evo/blob/master/doc/performance.md)) **What it's not:** a 1-to-1 re-implementation of a particular evaluation protocol tailored to a specific dataset. --- ## Installation / Upgrade Installation is easy-peasy if you're familiar with this: https://xkcd.com/1987/# evo supports **Python 3.8+**. You might also want to use a [virtual environment](https://github.com/MichaelGrupp/evo/blob/master/doc/install_in_virtualenv.md). ### From PyPi If you just want to use the executables of the latest release version, the easiest way is to run: ```bash pip install evo ``` This will download the package and its dependencies from [PyPI](https://pypi.org/project/evo/) and install or upgrade them. If you want, you can subscribe to new releases via https://libraries.io/pypi/evo. ### From Source Run this in the repository's base folder: ```bash pip install --editable . ``` ### Tab completion Tab completion is supported via the [argcomplete](https://github.com/kislyuk/argcomplete/) package. Run `activate-global-python-argcomplete` after the installation to use it. ### Dependencies **Python packages** evo has some required dependencies that are ***automatically resolved*** during installation with pip. See the `pyproject.toml` file for all details. **PyQt5 (optional)** PyQt5 will give you the enhanced GUI for plot figures from the "*Qt5Agg*" matplotlib backend (otherwise: "*TkAgg*"). If PyQt5 is already installed when installing this package, it will be used as a default (see `evo_config show`). To change the plot backend afterwards, run `evo_config set plot_backend Qt5Agg`. **ROS (optional)** Some ROS-related features require a ROS installation, see [here](http://www.ros.org/). We are testing this package with ROS Noetic and Iron. Previous versions (`<= 1.12.0`) work with Melodic, Kinetic and Indigo. *Note:* reading ROS bag files works also without a ROS installation thanks to the great [rosbags](https://pypi.org/project/rosbags/) package that is installed together with evo. This allows you also to read ROS 1 & 2 bags even if you don't have one of those ROS distros installed. (except for reading `/tf` topics, because there we need the buffer implementation from ROS) **contextily (optional)** [contextily](https://contextily.readthedocs.io/en/latest/index.html) is required for [adding map tiles](https://github.com/MichaelGrupp/evo/wiki/Plotting#geographic-map-tiles) to plots of geo-referenced data. --- ## Command Line Interface After installation with pip, the following executables can be called globally from your command-line: **Metrics:** * `evo_ape` - absolute pose error * `evo_rpe` - relative pose error **Tools:** * `evo_traj` - tool for analyzing, plotting or exporting one or more trajectories * `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 Call the commands with `--help` to see the options, e.g. `evo_ape --help`. Tab-completion of command line parameters is available on UNIX-like systems. **More documentation** Check out the [Wiki on GitHub](https://github.com/MichaelGrupp/evo/wiki). --- ## Example Workflow There are some example trajectories in the source folder in `test/data`. ### 1.) Plot multiple trajectories Here, we plot two KITTI pose files and the ground truth using `evo_traj`: ``` cd test/data evo_traj kitti KITTI_00_ORB.txt KITTI_00_SPTAM.txt --ref=KITTI_00_gt.txt -p --plot_mode=xz ``` evo evo ### 2.) Run a metric on trajectories For example, here we calculate the absolute pose error for two trajectories from ORB-SLAM and S-PTAM using `evo_ape` (`KITTI_00_gt.txt` is the reference (ground truth)) and plot and save the individual results to .zip files for `evo_res`: *First trajectory (ORB Stereo):* ``` mkdir results evo_ape kitti KITTI_00_gt.txt KITTI_00_ORB.txt -va --plot --plot_mode xz --save_results results/ORB.zip ``` evo evo *Second trajectory (S-PTAM):* ``` evo_ape kitti KITTI_00_gt.txt KITTI_00_SPTAM.txt -va --plot --plot_mode xz --save_results results/SPTAM.zip ``` 2024-12-18 09:50:16
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