evo_rpe and evo_ape reads EuRoC data with TUM format loader

Cryptum169 commented 3 years ago

Description: evo_rpe and evo_ape reads EuRoC format files with TUM trajectory reader

https://github.com/MichaelGrupp/evo/blob/ffda6b4b91a2c5739f0d39cd3491ed5f4011d499/evo/common_ape_rpe.py#L50-L53

Command: For simplicity, ground truth file were passed to both argument.

evo_rpe euroc MH01_gt.csv MH01_gt.csv

Console output:

[ERROR] TUM trajectory files must have 8 entries per row and no trailing delimiter at the end of the rows (space)

Additional files: Please attach all the files needed to reproduce the error. MH01_gt.csv (First 20 lines of EuRoC MH01 sequence ground truth estimate)

Please give also the following information:

evo version number shown by evo pkg --version:
Python version shown by evo pkg --pyversion:
operating system and version (e.g. Ubuntu 16.04 or Windows 10):
did you change the source code? (yes / no):

output of evo_config show --brief --no_color:


evo pkg --version: v1.13.5
evo pkg --pyversion: 3.8.5
Ubuntu 20.04
no. 
{
"console_logging_format": "%(message)s",
"euler_angle_sequence": "sxyz",
"global_logfile_enabled": false,
"plot_axis_marker_scale": 0.0,
"plot_backend": "TkAgg",
"plot_figsize": [
    6,
    6
],
"plot_fontfamily": "sans-serif",
"plot_fontscale": 1.0,
"plot_invert_xaxis": false,
"plot_invert_yaxis": false,
"plot_linewidth": 1.5,
"plot_mode_default": "xyz",
"plot_multi_cmap": "none",
"plot_pose_correspondences": false,
"plot_pose_correspondences_linestyle": "dotted",
"plot_reference_alpha": 0.5,
"plot_reference_color": "black",
"plot_reference_linestyle": "--",
"plot_seaborn_palette": "deep6",
"plot_seaborn_style": "darkgrid",
"plot_split": false,
"plot_statistics": [
    "rmse",
    "median",
    "mean",
    "std",
    "min",
    "max"
],
"plot_texsystem": "pdflatex",
"plot_trajectory_alpha": 0.75,
"plot_trajectory_cmap": "jet",
"plot_trajectory_linestyle": "-",
"plot_usetex": false,
"plot_xyz_realistic": true,
"ros_map_alpha_value": 1.0,
"ros_map_unknown_cell_value": 205,
"save_traj_in_zip": false,
"table_export_data": "stats",
"table_export_format": "csv",
"table_export_transpose": true,
"tf_cache_lookup_frequency": 10,
"tf_cache_max_time": 10000.0
}

MichaelGrupp commented 3 years ago

This is expected behavior because the euroc file format is only useful for the groundtruth.

See here for more details: https://github.com/MichaelGrupp/evo/wiki/Formats#euroc---euroc-mav-dataset-format-also-used-in-tum-vi-dataset

evo_rpe euroc MH01_gt.csv MH01_gt.csv

I don't believe that comparison of a groundtruth file with itself is a common use case that would justify a change.

Cryptum169 commented 3 years ago

I see, I jumped to conclusions when I saw a TUM error popped up when euroc option was given, my apologies.

MichaelGrupp commented 3 years ago

No problem, this might be confusing the first time :slightly_smiling_face:

MichaelGrupp / evo

evo_rpe and evo_ape reads EuRoC data with TUM format loader #402