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evo-master.zip

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更新日期:2024-12-18

evo-master.zip

资源文件列表(大概)

文件名

大小

evo-master/

evo-master/.ci/

evo-master/.ci/debian_install_pip3.sh

59B

evo-master/.ci/release.sh

908B

evo-master/.ci/ros_entrypoint.sh

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evo-master/.ci/ros_run_tests.sh

93B

evo-master/.ci/run_yapf.sh

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evo-master/.dockerignore

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evo-master/.github/

evo-master/.github/ISSUE_TEMPLATE/

evo-master/.github/ISSUE_TEMPLATE/error-report.md

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evo-master/.github/ISSUE_TEMPLATE/feature_request.md

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evo-master/.github/ISSUE_TEMPLATE/question-about-a-concept.md

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evo-master/.github/stale.yaml

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evo-master/.gitignore

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evo-master/.pylintrc

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evo-master/.style.yapf

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evo-master/Dockerfile.ros-jazzy

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evo-master/Dockerfile.rosnoetic

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evo-master/LICENSE

34.32KB

evo-master/README.md

11.38KB

evo-master/_config.yml

26B

evo-master/azure-pipelines.yml

2.28KB

evo-master/contrib/

evo-master/contrib/README.md

98B

evo-master/contrib/kitti_poses_and_timestamps_to_trajectory.py

1.55KB

evo-master/contrib/multiply_timestamps.py

666B

evo-master/contrib/print_duplicate_timestamps.sh

235B

evo-master/contrib/record_tf_as_posestamped_bag.py

4.25KB

evo-master/contrib/rename_est_name.py

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evo-master/doc/

evo-master/doc/alignment_demo.py

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evo-master/doc/assets/

evo-master/doc/assets/ape_demo_ORB_map.png

48.34KB

evo-master/doc/assets/ape_demo_ORB_raw.png

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evo-master/doc/assets/ape_demo_S-PTAM_map.png

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evo-master/doc/assets/ape_demo_S-PTAM_raw.png

42.83KB

evo-master/doc/assets/keep_unchanged.png

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evo-master/doc/assets/length_unit_km.png

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evo-master/doc/assets/length_unit_km_xyz.png

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evo-master/doc/assets/map_tile_osm.png

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evo-master/doc/assets/markers.png

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evo-master/doc/assets/pose_corr_markers.png

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evo-master/doc/assets/projection_demo_projected.png

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evo-master/doc/assets/projection_demo_unprojected.png

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evo-master/doc/assets/res_box.png

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evo-master/doc/assets/res_dist.png

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evo-master/doc/assets/res_raw.png

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evo-master/doc/assets/res_stats.png

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evo-master/doc/assets/res_violin.png

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evo-master/doc/assets/ros_map.png

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evo-master/doc/assets/start_end_markers.png

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evo-master/doc/assets/traj_demo.png

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evo-master/doc/assets/traj_demo_xyz.png

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evo-master/doc/assets/update.png

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evo-master/doc/assets/zoom_to_map.png

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evo-master/doc/examples/

evo-master/doc/examples/config_ape.example.json

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evo-master/doc/examples/config_rpe-for-each.example.json

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evo-master/doc/examples/config_rpe.example.json

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evo-master/doc/examples/custom_app.py

2.28KB

evo-master/doc/install_in_virtualenv.md

2.47KB

evo-master/doc/jupyter_notebook.md

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evo-master/doc/performance.md

2.17KB

evo-master/evo/

evo-master/evo/LICENSE

34.32KB

evo-master/evo/__init__.py

583B

evo-master/evo/common_ape_rpe.py

9.39KB

evo-master/evo/core/

evo-master/evo/core/__init__.py

evo-master/evo/core/filters.py

8.02KB

evo-master/evo/core/geometry.py

3.32KB

evo-master/evo/core/lie_algebra.py

6.85KB

evo-master/evo/core/metrics.py

18.47KB

evo-master/evo/core/result.py

4.64KB

evo-master/evo/core/sync.py

4.53KB

evo-master/evo/core/trajectory.py

21.6KB

evo-master/evo/core/transformations.py

64.65KB

evo-master/evo/core/units.py

1.33KB

evo-master/evo/entry_points.py

3.67KB

evo-master/evo/ipython_config.py

22.63KB

evo-master/evo/main_ape.py

6.57KB

evo-master/evo/main_ape_parser.py

7.93KB

evo-master/evo/main_config.py

12.88KB

evo-master/evo/main_evo.py

6.57KB

evo-master/evo/main_fig.py

3.59KB

evo-master/evo/main_ipython.py

2.53KB

evo-master/evo/main_res.py

9.69KB

evo-master/evo/main_res_parser.py

2.66KB

evo-master/evo/main_rpe.py

7.92KB

evo-master/evo/main_rpe_parser.py

8.64KB

evo-master/evo/main_traj.py

20.9KB

evo-master/evo/main_traj_parser.py

8.3KB

evo-master/evo/tools/

evo-master/evo/tools/__init__.py

evo-master/evo/tools/_typing.py

846B

evo-master/evo/tools/contextily_helper.py

3.5KB

evo-master/evo/tools/file_interface.py

21.65KB

evo-master/evo/tools/log.py

3.89KB

evo-master/evo/tools/pandas_bridge.py

5.43KB

evo-master/evo/tools/plot.py

37.02KB

evo-master/evo/tools/settings.py

4.85KB

evo-master/evo/tools/settings_template.py

8.56KB

evo-master/evo/tools/tf_cache.py

12.48KB

evo-master/evo/tools/tf_id.py

2.3KB

evo-master/evo/tools/user.py

1.31KB

evo-master/notebooks/

evo-master/notebooks/metrics.py_API_Documentation.ipynb

20.11KB

evo-master/notebooks/metrics_interactive.ipynb

10.3KB

evo-master/notebooks/metrics_tutorial.ipynb

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evo-master/notebooks/pandas_bridge.ipynb

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evo-master/pyproject.toml

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evo-master/test/

evo-master/test/ape_rpe_smoke_test.py

1002B

evo-master/test/cfg/

evo-master/test/cfg/ape_rpe/

evo-master/test/cfg/ape_rpe/all_pairs_deg.json

316B

evo-master/test/cfg/ape_rpe/all_pairs_frames.json

316B

evo-master/test/cfg/ape_rpe/all_pairs_meters.json

316B

evo-master/test/cfg/ape_rpe/all_pairs_plot.json

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evo-master/test/cfg/ape_rpe/all_pairs_rad.json

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evo-master/test/cfg/ape_rpe/n_to_align.json

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evo-master/test/cfg/ape_rpe/not_aligned.json

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evo-master/test/cfg/ape_rpe/origin_aligned.json

29B

evo-master/test/cfg/ape_rpe/pairs_from_reference.json

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evo-master/test/cfg/ape_rpe/se3_aligned.json

318B

evo-master/test/cfg/ape_rpe/sim3_aligned.json

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evo-master/test/cfg/ape_rpe/t_offset.json

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evo-master/test/cfg/ape_rpe/write_assets_xy.json

508B

evo-master/test/cfg/ape_rpe/write_assets_xyz.json

536B

evo-master/test/cfg/res/

evo-master/test/cfg/res/merge.json

311B

evo-master/test/cfg/res/use_filenames.json

29B

evo-master/test/cfg/res/use_rel_time.json

28B

evo-master/test/cfg/res/write_assets.json

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evo-master/test/cfg/tf/

evo-master/test/cfg/tf/tf.json

91B

evo-master/test/cfg/traj/

evo-master/test/cfg/traj/bag/

evo-master/test/cfg/traj/bag/export.json

106B

evo-master/test/cfg/traj/bag/merge.json

351B

evo-master/test/cfg/traj/common/

evo-master/test/cfg/traj/common/align_100.json

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evo-master/test/cfg/traj/common/full_check.json

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evo-master/test/cfg/traj/common/not_aligned.json

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evo-master/test/cfg/traj/common/origin_aligned.json

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evo-master/test/cfg/traj/common/plot_specialities.json

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evo-master/test/cfg/traj/common/se3_aligned.json

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evo-master/test/cfg/traj/common/sim3_aligned.json

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evo-master/test/cfg/traj/common/sync.json

21B

evo-master/test/cfg/traj/common/write_assets_xy.json

602B

evo-master/test/cfg/traj/common/write_assets_xyz.json

603B

evo-master/test/cfg/traj/euroc/

evo-master/test/cfg/traj/euroc/export.json

107B

evo-master/test/cfg/traj/kitti/

evo-master/test/cfg/traj/kitti/export.json

54B

evo-master/test/cfg/traj/tum/

evo-master/test/cfg/traj/tum/export.json

107B

evo-master/test/cfg/traj/tum/merge.json

351B

evo-master/test/data/

evo-master/test/data/.gitignore

evo-master/test/data/KITTI_00_ORB.txt

673.08KB

evo-master/test/data/KITTI_00_SPTAM.txt

1.32MB

evo-master/test/data/KITTI_00_gt.txt

711.79KB

evo-master/test/data/KITTI_00_gt_times.txt

57.65KB

evo-master/test/data/ROS_example.bag

3.54MB

evo-master/test/data/V102.txt

159.65KB

evo-master/test/data/V102_groundtruth.csv

2.71MB

evo-master/test/data/fr2_desk_ORB.txt

296.26KB

evo-master/test/data/fr2_desk_ORB_kf_mono.txt

13.94KB

evo-master/test/data/fr2_desk_groundtruth.txt

1.35MB

evo-master/test/data/freiburg1_xyz-ORB_kf_mono.txt

2.81KB

evo-master/test/data/freiburg1_xyz-groundtruth.txt

196.39KB

evo-master/test/data/freiburg1_xyz-rgbdslam.txt

63.95KB

evo-master/test/data/freiburg1_xyz-rgbdslam_drift.txt

63.87KB

evo-master/test/data/freiburg1_xyz-rgbdslam_drift_short.txt

3.24KB

evo-master/test/data/georeferenced.tum

196.5KB

evo-master/test/data/res_files/

evo-master/test/data/res_files/orb_ape.zip

36.27KB

evo-master/test/data/res_files/orb_rpe-for-each.zip

1.09KB

evo-master/test/data/res_files/orb_rpe.zip

3.59KB

evo-master/test/data/res_files/sptam_ape.zip

36.27KB

evo-master/test/data/res_files/sptam_rpe-for-each.zip

1.08KB

evo-master/test/data/res_files/sptam_rpe.zip

3.6KB

evo-master/test/data/tf_example.bag

33.3KB

evo-master/test/data/tf_example/

evo-master/test/data/tf_example/metadata.yaml

1.03KB

evo-master/test/data/tf_example/tf_example.db3

104KB

evo-master/test/demos/

evo-master/test/demos/.gitignore

87B

evo-master/test/demos/ape_demo.sh

1.32KB

evo-master/test/demos/clean.sh

204B

evo-master/test/demos/config_demo.sh

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evo-master/test/demos/example.tex

596B

evo-master/test/demos/latex_demo.sh

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evo-master/test/demos/res_demo.sh

1.05KB

evo-master/test/demos/rpe_demo.sh

1.43KB

evo-master/test/demos/traj_demo.sh

1.43KB

evo-master/test/helpers.py

1.33KB

evo-master/test/res_smoke_test.py

901B

evo-master/test/run_all_demos.sh

422B

evo-master/test/test_file_interface.py

9.53KB

evo-master/test/test_filters.py

6.9KB

evo-master/test/test_lie_algebra.py

5.91KB

evo-master/test/test_pandas_bridge.py

1.58KB

evo-master/test/test_result.py

2.78KB

evo-master/test/test_sync.py

3.33KB

evo-master/test/test_trajectory.py

11.31KB

evo-master/test/traj_smoke_test.py

1.89KB

evo-master/test/tum_benchmark_tools/

evo-master/test/tum_benchmark_tools/README.md

242B

evo-master/test/tum_benchmark_tools/associate.py

5.22KB

evo-master/test/tum_benchmark_tools/evaluate_ate.py

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evo-master/test/tum_benchmark_tools/evaluate_rpe.py

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资源内容介绍

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.<a href="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/ape_demo_ORB_map.png" target="_blank"> <img src="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/ape_demo_ORB_map.png" alt="evo" height="175" border="5" /></a><a href="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_violin.png" target="_blank"> <img src="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/res_violin.png" alt="evo" height="175" border="5" /></a><a href="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/markers.png" target="_blank"> <img src="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/markers.png" alt="evo" height="175" border="5" /></a><a href="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/map_tile_osm.png" target="_blank"> <img src="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/map_tile_osm.png" alt="evo" height="175" border="5" /></a>---## 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 / UpgradeInstallation 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 PyPiIf you just want to use the executables of the latest release version, the easiest way is to run:```bashpip 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 SourceRun this in the repository's base folder:```bashpip install --editable .```### Tab completionTab 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 InterfaceAfter 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 manipulationCall 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 WorkflowThere 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 ``` <a href="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/traj_demo.png" target="_blank"> <img src="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/traj_demo.png" alt="evo" height="200" border="5" /> </a> <a href="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/traj_demo_xyz.png" target="_blank"> <img src="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/traj_demo_xyz.png" alt="evo" height="200" border="5" /> </a>### 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 ``` <a href="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/ape_demo_ORB_raw.png" target="_blank"> <img src="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/ape_demo_ORB_raw.png" alt="evo" height="200" border="5" /> </a> <a href="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/ape_demo_ORB_map.png" target="_blank"> <img src="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/ape_demo_ORB_map.png" alt="evo" height="200" border="5" /> </a> *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 ``` <a href="https://raw.githubusercontent.com/MichaelGrupp/evo/master/doc/assets/ape_demo_S-PTAM_raw.png" target="_blank"> <img src="https://raw.githubusercontent.com/MichaelGrup

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