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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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how would I use evo_ape with different timestamps #542

Closed an99990 closed 1 year ago

an99990 commented 1 year ago

Hi, I have a rosbag with timestamps and a csv containing my ground_truth pose. In the csv theres the time that elpased between the recorded data. I am currently creating a publisher to publish the pose but I dont know how I would create the timestamp as I can use the current time since the rosbag was recorded at a different time. Is there a solution to this issue ?

Here is a sample of the csv. First column is the time that passed between each recorded pose. Thank you TX TY TZ RX RY RZ 0 -626.504333 1962.680542 -268.230469 -0.296254 -0.214001 -0.129529 0.034 -626.564819 1962.768677 -268.200012 -0.280795 -0.20873 -0.126058 0.069 -626.470398 1962.683105 -268.240784 -0.29543 -0.219157 -0.119455 0.103 -626.548584 1962.728027 -268.196106 -0.293325 -0.211724 -0.132005 0.138 -626.47345 1962.650024 -268.234436 -0.296129 -0.215802 -0.125714 0.172 -626.533447 1962.742676 -268.218323 -0.289016 -0.212088 -0.128376 0.207 -626.533447 1962.733032 -268.208282 -0.28741 -0.209034 -0.139597 0.241 -626.528931 1962.752686 -268.214081 -0.287333 -0.213777 -0.128611 0.276 -626.493225 1962.658447 -268.230621 -0.293972 -0.214519 -0.126756 0.31 -626.544312 1962.761719 -268.212097 -0.28602 -0.211942 -0.135466

an99990 commented 1 year ago

I have found a way to write the timestamp but i still am unable to get ape data from my recorded bag. I checked the timestamps and they are similar. image

I used this method to create my timestamps : https://answers.ros.org/question/286602/convience-methods-to-convert-rospytime-to-datetimedatetime/ Is there a way to change the max offset ?