evo-master.zip

# evo ***Python package for the evaluation of odometry and SLAM*** | Linux / macOS / Windows / ROS / ROS2 | | :---: | | [](https://dev.azure.com/michl2222/michl2222/_build/latest?definitionId=1&branchName=master) | This package provides executables and a small library for handling, evaluating and comparing the trajectory output of odometry and SLAM algorithms. Supported trajectory formats: * 'TUM' trajectory files * 'KITTI' pose files * 'EuRoC MAV' (.csv groundtruth and TUM trajectory file) * ROS and ROS2 bagfile with `geometry_msgs/PoseStamped`, `geometry_msgs/TransformStamped`, `geometry_msgs/PoseWithCovarianceStamped`, `geometry_msgs/PointStamped` or `nav_msgs/Odometry` topics or [TF messages](https://github.com/MichaelGrupp/evo/wiki/Formats#bag---ros-bagfile) See [here](https://github.com/MichaelGrupp/evo/wiki/Formats) for more infos about the formats. --- ## Why? evo has several advantages over other public benchmarking tools: * common tools for different formats * algorithmic options for association, alignment, scale adjustment for monocular SLAM etc. * flexible options for output, [plotting](https://github.com/MichaelGrupp/evo/wiki/Plotting) or export (e.g. LaTeX plots or Excel tables) * a powerful, configurable CLI that can cover many use cases * modular `core` and `tools` libraries for custom extensions * faster than other established Python-based tools ([see here](https://github.com/MichaelGrupp/evo/blob/master/doc/performance.md)) **What it's not:** a 1-to-1 re-implementation of a particular evaluation protocol tailored to a specific dataset. --- ## Installation / Upgrade Installation is easy-peasy if you're familiar with this: https://xkcd.com/1987/# evo supports **Python 3.8+**. You might also want to use a [virtual environment](https://github.com/MichaelGrupp/evo/blob/master/doc/install_in_virtualenv.md). ### From PyPi If you just want to use the executables of the latest release version, the easiest way is to run: ```bash pip install evo ``` This will download the package and its dependencies from [PyPI](https://pypi.org/project/evo/) and install or upgrade them. If you want, you can subscribe to new releases via https://libraries.io/pypi/evo. ### From Source Run this in the repository's base folder: ```bash pip install --editable . ``` ### Tab completion Tab completion is supported via the [argcomplete](https://github.com/kislyuk/argcomplete/) package. Run `activate-global-python-argcomplete` after the installation to use it. ### Dependencies **Python packages** evo has some required dependencies that are ***automatically resolved*** during installation with pip. See the `pyproject.toml` file for all details. **PyQt5 (optional)** PyQt5 will give you the enhanced GUI for plot figures from the "*Qt5Agg*" matplotlib backend (otherwise: "*TkAgg*"). If PyQt5 is already installed when installing this package, it will be used as a default (see `evo_config show`). To change the plot backend afterwards, run `evo_config set plot_backend Qt5Agg`. **ROS (optional)** Some ROS-related features require a ROS installation, see [here](http://www.ros.org/). We are testing this package with ROS Noetic and Iron. Previous versions (`<= 1.12.0`) work with Melodic, Kinetic and Indigo. *Note:* reading ROS bag files works also without a ROS installation thanks to the great [rosbags](https://pypi.org/project/rosbags/) package that is installed together with evo. This allows you also to read ROS 1 & 2 bags even if you don't have one of those ROS distros installed. (except for reading `/tf` topics, because there we need the buffer implementation from ROS) **contextily (optional)** [contextily](https://contextily.readthedocs.io/en/latest/index.html) is required for [adding map tiles](https://github.com/MichaelGrupp/evo/wiki/Plotting#geographic-map-tiles) to plots of geo-referenced data. --- ## Command Line Interface After installation with pip, the following executables can be called globally from your command-line: **Metrics:** * `evo_ape` - absolute pose error * `evo_rpe` - relative pose error **Tools:** * `evo_traj` - tool for analyzing, plotting or exporting one or more trajectories * `evo_res` - tool for comparing one or multiple result files from `evo_ape` or `evo_rpe` * `evo_fig` - (experimental) tool for re-opening serialized plots (saved with `--serialize_plot`) * `evo_config` - tool for global settings and config file manipulation Call the commands with `--help` to see the options, e.g. `evo_ape --help`. Tab-completion of command line parameters is available on UNIX-like systems. **More documentation** Check out the [Wiki on GitHub](https://github.com/MichaelGrupp/evo/wiki). --- ## Example Workflow There are some example trajectories in the source folder in `test/data`. ### 1.) Plot multiple trajectories Here, we plot two KITTI pose files and the ground truth using `evo_traj`: ``` cd test/data evo_traj kitti KITTI_00_ORB.txt KITTI_00_SPTAM.txt --ref=KITTI_00_gt.txt -p --plot_mode=xz ``` ### 2.) Run a metric on trajectories For example, here we calculate the absolute pose error for two trajectories from ORB-SLAM and S-PTAM using `evo_ape` (`KITTI_00_gt.txt` is the reference (ground truth)) and plot and save the individual results to .zip files for `evo_res`: *First trajectory (ORB Stereo):* ``` mkdir results evo_ape kitti KITTI_00_gt.txt KITTI_00_ORB.txt -va --plot --plot_mode xz --save_results results/ORB.zip ``` *Second trajectory (S-PTAM):* ``` evo_ape kitti KITTI_00_gt.txt KITTI_00_SPTAM.txt -va --plot --plot_mode xz --save_results results/SPTAM.zip ```

资源文件列表:

evo-master.zip 大约有214个文件

1. evo-master/
2. evo-master/.ci/
3. evo-master/.ci/debian_install_pip3.sh 59B
4. evo-master/.ci/release.sh 908B
5. evo-master/.ci/ros_entrypoint.sh 72B
6. evo-master/.ci/ros_run_tests.sh 93B
7. evo-master/.ci/run_yapf.sh 328B
8. evo-master/.dockerignore 39B
9. evo-master/.github/
10. evo-master/.github/ISSUE_TEMPLATE/
11. evo-master/.github/ISSUE_TEMPLATE/error-report.md 724B
12. evo-master/.github/ISSUE_TEMPLATE/feature_request.md 560B
13. evo-master/.github/ISSUE_TEMPLATE/question-about-a-concept.md 88B
14. evo-master/.github/stale.yaml 893B
15. evo-master/.gitignore 1.23KB
16. evo-master/.pylintrc 71B
17. evo-master/.style.yapf 137B
18. evo-master/Dockerfile.ros-jazzy 1.66KB
19. evo-master/Dockerfile.rosnoetic 1.27KB
20. evo-master/LICENSE 34.32KB
21. evo-master/README.md 11.38KB
22. evo-master/_config.yml 26B
23. evo-master/azure-pipelines.yml 2.28KB
24. evo-master/contrib/
25. evo-master/contrib/README.md 98B
26. evo-master/contrib/kitti_poses_and_timestamps_to_trajectory.py 1.55KB
27. evo-master/contrib/multiply_timestamps.py 666B
28. evo-master/contrib/print_duplicate_timestamps.sh 235B
29. evo-master/contrib/record_tf_as_posestamped_bag.py 4.25KB
30. evo-master/contrib/rename_est_name.py 611B
31. evo-master/doc/
32. evo-master/doc/alignment_demo.py 2.65KB
33. evo-master/doc/assets/
34. evo-master/doc/assets/ape_demo_ORB_map.png 48.34KB
35. evo-master/doc/assets/ape_demo_ORB_raw.png 46.59KB
36. evo-master/doc/assets/ape_demo_S-PTAM_map.png 50.23KB
37. evo-master/doc/assets/ape_demo_S-PTAM_raw.png 42.83KB
38. evo-master/doc/assets/keep_unchanged.png 30.47KB
39. evo-master/doc/assets/length_unit_km.png 21.96KB
40. evo-master/doc/assets/length_unit_km_xyz.png 30.28KB
41. evo-master/doc/assets/map_tile_osm.png 353.75KB
42. evo-master/doc/assets/markers.png 63.05KB
43. evo-master/doc/assets/pose_corr_markers.png 113.36KB
44. evo-master/doc/assets/projection_demo_projected.png 69.33KB
45. evo-master/doc/assets/projection_demo_unprojected.png 69.56KB
46. evo-master/doc/assets/res_box.png 14.79KB
47. evo-master/doc/assets/res_dist.png 20.16KB
48. evo-master/doc/assets/res_raw.png 81.46KB
49. evo-master/doc/assets/res_stats.png 16.25KB
50. evo-master/doc/assets/res_violin.png 39.32KB
51. evo-master/doc/assets/ros_map.png 94.35KB
52. evo-master/doc/assets/start_end_markers.png 35.72KB
53. evo-master/doc/assets/traj_demo.png 93.48KB
54. evo-master/doc/assets/traj_demo_xyz.png 104.89KB
55. evo-master/doc/assets/update.png 41.2KB
56. evo-master/doc/assets/zoom_to_map.png 36.48KB
57. evo-master/doc/examples/
58. evo-master/doc/examples/config_ape.example.json 212B
59. evo-master/doc/examples/config_rpe-for-each.example.json 172B
60. evo-master/doc/examples/config_rpe.example.json 296B
61. evo-master/doc/examples/custom_app.py 2.28KB
62. evo-master/doc/install_in_virtualenv.md 2.47KB
63. evo-master/doc/jupyter_notebook.md 1.06KB
64. evo-master/doc/performance.md 2.17KB
65. evo-master/evo/
66. evo-master/evo/LICENSE 34.32KB
67. evo-master/evo/__init__.py 583B
68. evo-master/evo/common_ape_rpe.py 9.39KB
69. evo-master/evo/core/
70. evo-master/evo/core/__init__.py
71. evo-master/evo/core/filters.py 8.02KB
72. evo-master/evo/core/geometry.py 3.32KB
73. evo-master/evo/core/lie_algebra.py 6.85KB
74. evo-master/evo/core/metrics.py 18.47KB
75. evo-master/evo/core/result.py 4.64KB
76. evo-master/evo/core/sync.py 4.53KB
77. evo-master/evo/core/trajectory.py 21.6KB
78. evo-master/evo/core/transformations.py 64.65KB
79. evo-master/evo/core/units.py 1.33KB
80. evo-master/evo/entry_points.py 3.67KB
81. evo-master/evo/ipython_config.py 22.63KB
82. evo-master/evo/main_ape.py 6.57KB
83. evo-master/evo/main_ape_parser.py 7.93KB
84. evo-master/evo/main_config.py 12.88KB
85. evo-master/evo/main_evo.py 6.57KB
86. evo-master/evo/main_fig.py 3.59KB
87. evo-master/evo/main_ipython.py 2.53KB
88. evo-master/evo/main_res.py 9.69KB
89. evo-master/evo/main_res_parser.py 2.66KB
90. evo-master/evo/main_rpe.py 7.92KB
91. evo-master/evo/main_rpe_parser.py 8.64KB
92. evo-master/evo/main_traj.py 20.9KB
93. evo-master/evo/main_traj_parser.py 8.3KB
94. evo-master/evo/tools/
95. evo-master/evo/tools/__init__.py
96. evo-master/evo/tools/_typing.py 846B
97. evo-master/evo/tools/contextily_helper.py 3.5KB
98. evo-master/evo/tools/file_interface.py 21.65KB
99. evo-master/evo/tools/log.py 3.89KB
100. evo-master/evo/tools/pandas_bridge.py 5.43KB
101. evo-master/evo/tools/plot.py 37.02KB
102. evo-master/evo/tools/settings.py 4.85KB
103. evo-master/evo/tools/settings_template.py 8.56KB
104. evo-master/evo/tools/tf_cache.py 12.48KB
105. evo-master/evo/tools/tf_id.py 2.3KB
106. evo-master/evo/tools/user.py 1.31KB
107. evo-master/notebooks/
108. evo-master/notebooks/metrics.py_API_Documentation.ipynb 20.11KB
109. evo-master/notebooks/metrics_interactive.ipynb 10.3KB
110. evo-master/notebooks/metrics_tutorial.ipynb 727B
111. evo-master/notebooks/pandas_bridge.ipynb 5.31KB
112. evo-master/pyproject.toml 1.84KB
113. evo-master/test/
114. evo-master/test/ape_rpe_smoke_test.py 1002B
115. evo-master/test/cfg/
116. evo-master/test/cfg/ape_rpe/
117. evo-master/test/cfg/ape_rpe/all_pairs_deg.json 316B
118. evo-master/test/cfg/ape_rpe/all_pairs_frames.json 316B
119. evo-master/test/cfg/ape_rpe/all_pairs_meters.json 316B
120. evo-master/test/cfg/ape_rpe/all_pairs_plot.json 389B
121. evo-master/test/cfg/ape_rpe/all_pairs_rad.json 318B
122. evo-master/test/cfg/ape_rpe/n_to_align.json 339B
123. evo-master/test/cfg/ape_rpe/not_aligned.json 319B
124. evo-master/test/cfg/ape_rpe/origin_aligned.json 29B
125. evo-master/test/cfg/ape_rpe/pairs_from_reference.json 222B
126. evo-master/test/cfg/ape_rpe/se3_aligned.json 318B
127. evo-master/test/cfg/ape_rpe/sim3_aligned.json 317B
128. evo-master/test/cfg/ape_rpe/t_offset.json 320B
129. evo-master/test/cfg/ape_rpe/write_assets_xy.json 508B
130. evo-master/test/cfg/ape_rpe/write_assets_xyz.json 536B
131. evo-master/test/cfg/res/
132. evo-master/test/cfg/res/merge.json 311B
133. evo-master/test/cfg/res/use_filenames.json 29B
134. evo-master/test/cfg/res/use_rel_time.json 28B
135. evo-master/test/cfg/res/write_assets.json 292B
136. evo-master/test/cfg/tf/
137. evo-master/test/cfg/tf/tf.json 91B
138. evo-master/test/cfg/traj/
139. evo-master/test/cfg/traj/bag/
140. evo-master/test/cfg/traj/bag/export.json 106B
141. evo-master/test/cfg/traj/bag/merge.json 351B
142. evo-master/test/cfg/traj/common/
143. evo-master/test/cfg/traj/common/align_100.json 353B
144. evo-master/test/cfg/traj/common/full_check.json 349B
145. evo-master/test/cfg/traj/common/not_aligned.json 353B
146. evo-master/test/cfg/traj/common/origin_aligned.json 28B
147. evo-master/test/cfg/traj/common/plot_specialities.json 72B
148. evo-master/test/cfg/traj/common/se3_aligned.json 352B
149. evo-master/test/cfg/traj/common/sim3_aligned.json 350B
150. evo-master/test/cfg/traj/common/sync.json 21B
151. evo-master/test/cfg/traj/common/write_assets_xy.json 602B
152. evo-master/test/cfg/traj/common/write_assets_xyz.json 603B
153. evo-master/test/cfg/traj/euroc/
154. evo-master/test/cfg/traj/euroc/export.json 107B
155. evo-master/test/cfg/traj/kitti/
156. evo-master/test/cfg/traj/kitti/export.json 54B
157. evo-master/test/cfg/traj/tum/
158. evo-master/test/cfg/traj/tum/export.json 107B
159. evo-master/test/cfg/traj/tum/merge.json 351B
160. evo-master/test/data/
161. evo-master/test/data/.gitignore 9B
162. evo-master/test/data/KITTI_00_ORB.txt 673.08KB
163. evo-master/test/data/KITTI_00_SPTAM.txt 1.32MB
164. evo-master/test/data/KITTI_00_gt.txt 711.79KB
165. evo-master/test/data/KITTI_00_gt_times.txt 57.65KB
166. evo-master/test/data/ROS_example.bag 3.54MB
167. evo-master/test/data/V102.txt 159.65KB
168. evo-master/test/data/V102_groundtruth.csv 2.71MB
169. evo-master/test/data/fr2_desk_ORB.txt 296.26KB
170. evo-master/test/data/fr2_desk_ORB_kf_mono.txt 13.94KB
171. evo-master/test/data/fr2_desk_groundtruth.txt 1.35MB
172. evo-master/test/data/freiburg1_xyz-ORB_kf_mono.txt 2.81KB
173. evo-master/test/data/freiburg1_xyz-groundtruth.txt 196.39KB
174. evo-master/test/data/freiburg1_xyz-rgbdslam.txt 63.95KB
175. evo-master/test/data/freiburg1_xyz-rgbdslam_drift.txt 63.87KB
176. evo-master/test/data/freiburg1_xyz-rgbdslam_drift_short.txt 3.24KB
177. evo-master/test/data/georeferenced.tum 196.5KB
178. evo-master/test/data/res_files/
179. evo-master/test/data/res_files/orb_ape.zip 36.27KB
180. evo-master/test/data/res_files/orb_rpe-for-each.zip 1.09KB
181. evo-master/test/data/res_files/orb_rpe.zip 3.59KB
182. evo-master/test/data/res_files/sptam_ape.zip 36.27KB
183. evo-master/test/data/res_files/sptam_rpe-for-each.zip 1.08KB
184. evo-master/test/data/res_files/sptam_rpe.zip 3.6KB
185. evo-master/test/data/tf_example.bag 33.3KB
186. evo-master/test/data/tf_example/
187. evo-master/test/data/tf_example/metadata.yaml 1.03KB
188. evo-master/test/data/tf_example/tf_example.db3 104KB
189. evo-master/test/demos/
190. evo-master/test/demos/.gitignore 87B
191. evo-master/test/demos/ape_demo.sh 1.32KB
192. evo-master/test/demos/clean.sh 204B
193. evo-master/test/demos/config_demo.sh 989B
194. evo-master/test/demos/example.tex 596B
195. evo-master/test/demos/latex_demo.sh 751B
196. evo-master/test/demos/res_demo.sh 1.05KB
197. evo-master/test/demos/rpe_demo.sh 1.43KB
198. evo-master/test/demos/traj_demo.sh 1.43KB
199. evo-master/test/helpers.py 1.33KB
200. evo-master/test/res_smoke_test.py 901B
201. evo-master/test/run_all_demos.sh 422B
202. evo-master/test/test_file_interface.py 9.53KB
203. evo-master/test/test_filters.py 6.9KB
204. evo-master/test/test_lie_algebra.py 5.91KB
205. evo-master/test/test_pandas_bridge.py 1.58KB
206. evo-master/test/test_result.py 2.78KB
207. evo-master/test/test_sync.py 3.33KB
208. evo-master/test/test_trajectory.py 11.31KB
209. evo-master/test/traj_smoke_test.py 1.89KB
210. evo-master/test/tum_benchmark_tools/
211. evo-master/test/tum_benchmark_tools/README.md 242B
212. evo-master/test/tum_benchmark_tools/associate.py 5.22KB
213. evo-master/test/tum_benchmark_tools/evaluate_ate.py 8.27KB
214. evo-master/test/tum_benchmark_tools/evaluate_rpe.py 15.07KB