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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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Update common_ape_rpe.py #552

Closed xubin1991 closed 1 year ago

MichaelGrupp commented 1 year ago

The estimated trajectory in the euroc mode is expected to be in TUM format. See also https://github.com/MichaelGrupp/evo/pull/530 for a similar pull request where I commented.

Loading the estimated trajectory in a CSV format designed for the ground truth doesn't make much sense to me. And if you have a CSV file that has the same format as the (min first 8 columns of) the ground truth EuRoC file format, you can convert it via evo_traj euroc file.txt --save_as_tum.

This is clearer than doing an implicit conversion based on the file extension.

xubin1991 commented 1 year ago

The estimated trajectory in the euroc mode is expected to be in TUM format. See also #530 for a similar pull request where I commented.

Loading the estimated trajectory in a CSV format designed for the ground truth doesn't make much sense to me. And if you have a CSV file that has the same format as the (min first 8 columns of) the ground truth EuRoC file format, you can convert it via evo_traj euroc file.txt --save_as_tum.

This is clearer than doing an implicit conversion based on the file extension.

I see, so it is intentionally to use TUM as ground truth. Thanks for the hint to convert file format.