search

MichaelGrupp / evo

Python package for the evaluation of odometry and SLAM
https://michaelgrupp.github.io/evo/
GNU General Public License v3.0
3.43k stars 746 forks source link

"evo_ape euroc" report [ERROR] TUM trajectory files must have 8 entries per row and no trailing delimiter at the end of the rows (space) #470

Closed CobenGao closed 2 years ago

CobenGao commented 2 years ago

Description: when a try to use "evo_ape euroc" to get the APE of two Euroc format files, it report error like below: [DEBUG][2022-04-27 12:54:49,195][main_ape.run():255] main_parser config: {'align': True, 'align_origin': False, 'config': None, 'correct_scale': False, 'debug': True, 'est_file': 'f_data.txt', 'logfile': None, 'n_to_align': -1, 'no_warnings': False, 'plot': True, 'plot_colormap_max': None, 'plot_colormap_max_percentile': None, 'plot_colormap_min': None, 'plot_full_ref': False, 'plot_mode': 'xyz', 'plot_x_dimension': 'seconds', 'pose_relation': 'full', 'ros_map_yaml': None, 'save_plot': '.\evo_result\mono_inertial_euroc_ape', 'save_results': '.\evo_result\mono_inertial_euroc_ape.zip', 'serialize_plot': None, 'silent': False, 'state_gt_csv': 'data.csv', 'subcommand': 'euroc', 't_end': None, 't_max_diff': 0.01, 't_offset': 0.0, 't_start': None, 'verbose': True} [DEBUG][2022-04-27 12:54:49,208][main_ape.run():256] [DEBUG][2022-04-27 12:54:49,753][file_interface.read_euroc_csv_trajectory():209] Loaded 28712 stamps and poses from: data.csv [ERROR] TUM trajectory files must have 8 entries per row and no trailing delimiter at the end of the rows (space)

Command: data.csv is the ./mav0/state_groundtruth_estimate0/data.csv of the http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/vicon_room1/V2_01_easy/V1_01_easy.zip f_data.txt looks like:

Euroc format

timestamp[ns],p_RS_R_x[m],p_RS_R_y[m],p_RS_R_z[m],q_RS_w[],q_RS_x[],q_RS_y[],q_RS_z[]

1403715278662142976.000000,0.025350310,-0.003238157,0.012935471,0.999806762,-0.004896020,0.018701242,0.003568859 1403715278712143104.000000,0.036598861,-0.003644791,0.018154707,0.999720454,-0.004097223,0.022476660,0.006094718 ...

evo_ape euroc data.csv f_data.txt -r full -va --plot --plot_mode xyz --save_plot .\evo_result\mono_inertial_euroc_ape --save_results .\evo_result\mono_inertial_euroc_ape.zip --debug

CobenGao commented 2 years ago

may the est_file must be TUM format, I change it as the below format, it works

TUM format

timestamp[s] p_RS_R_x[m] p_RS_R_y[m] p_RS_R_z[m] q_RS_x[] q_RS_y[] q_RS_z[] q_RS_w[]

1403715278.662143 -0.003252760 -0.026221097 0.015050826 0.018544139 0.005165383 0.004063323 0.999806464 1403715278.712143 -0.003765939 -0.038424030 0.020605311 0.022264620 0.004432760 0.006688863 0.999719977

MichaelGrupp commented 2 years ago

As you wrote, the other file needs to be in TUM format. If you have an euroc format file you can convert it using evo_traj, see the file format section of the Wiki.

GeJintian commented 1 year ago

As you wrote, the other file needs to be in TUM format. If you have an euroc format file you can convert it using evo_traj, see the file format section of the Wiki.

@MichaelGrupp Hello, so you mean that at least one of the file must be in TUM format, even if we use "evo_ape euroc" command line?