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MichaelGrupp / evo

Python package for the evaluation of odometry and SLAM
https://michaelgrupp.github.io/evo/
GNU General Public License v3.0
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Fix estimated trajectory loading for euroc format #530

Closed dantenoguera closed 1 year ago

MichaelGrupp commented 1 year ago

It's not a bug, it's a feature. The euroc csv file has columns that don't make sense for files that are not intended as ground truth, e.g. the IMU bias.

See also the evo Wiki:

This format only makes sense for these ground truth files because they have additional data (which we don't need). If you use the EuRoC dataset, you usually need to save the trajectory in another format like the TUM format (e.g. ORB-SLAM does it like that). In euroc mode, evo's metrics require you to give the reference in the EuRoC format and the estimated trajectory in the TUM format.

In case you anyway have an EuRoC style file and want to use it, you can convert it with evo_traj.

dantenoguera commented 1 year ago

I see, sorry for the noise.

MichaelGrupp commented 1 year ago

No problem! :slightly_smiling_face: