Open zhangxrr opened 3 years ago
One way I use to get trajectory is to write a ROS subscriber that subscribes to the pose topic of SVO. After that it's just accessing the position and quarternion values from the received pose msg and save it to a text file using ofstream object.
@manojsharma221 @zhangxrr Hello, could you please elaborate on how it is done? I currently want to evaluate the trajectory, but the author does not seem to have generated a trajectory file. So I tried to use the svo_benchmarking package provided by the author according to the author's prompt, but I encountered a problem, which has not been solved so far. Because I am not familiar with ROS, I don't quite understand what you said before. thank you very much
save pose in function CeresBackendPublisher::publishImuPose
Wow, thank you very much for your answer😀
Wow, thank you very much for your answer😀
I have the same question, may I ask how it is realized in detail, thank you
The best way I found was actually to save the /svo/pose_cam/0
topic with rostopic echo /svo/pose_cam/0 > somefile.txt
and then parse somefile.txt
with a Python script. I believe the /svo/backend_pose_imu
topic does not have the smoothed-out IMU trajectory.
I did what @kfu02 suggested. I'm not running this exact library, but a forked version that's used in a multi-robot back-end system called covins, but it should be the same.
What I did was test on EuRoC Machine Hall 1 and do the following:
/svo/pose_cam/0
, /svo/pose_cam/1
, and /svo/pose_imu
and recorded them in the TUM format/svo/pose_cam/0
:
max 0.289747
mean 0.088210
median 0.074669
min 0.013184
rmse 0.097988
sse 34.930530
std 0.042668
/svo/pose_cam/1
:
max 0.276685
mean 0.083299
median 0.076632
min 0.013427
rmse 0.092428
sse 31.079362
std 0.040053
/svo/pose_imu
max 0.243172
mean 0.079981
median 0.067228
min 0.005057
rmse 0.086558
sse 27.257242
std 0.033098
I'm assuming these are the correct results and reasonable values for the trajectory estimates. Can anyone else confirm?
I want to evaluate ATE,but I am confused about the path of the results. Could you please tell me the path of the saved trajectory in which I can get the results of running dataset.