/AlignTrajectory

This code calculates the alignment between two trajectories. A transformation matrix (rotation, scale, and trasnalation) and the alignment error is calculated.

Primary LanguageC++

Align Trajectory

This code calculates the alignment between two trajectories with x,y,z ccordinates, developed and tested under Ubuntu 14.04. A transformation matrix (rotation, scale, and trasnalation) and the alignment error is calculated.

To know more about the alignment error, also known as the Absoulte Trajectory Error (ATE), see [1]. To know more about the transformation matrix, see [2].

Make and Run

To compile:

  • cd project_dir
  • mkdir build
  • cd build
  • cmake ..
  • make

To run:

  • cd ../bin
  • ./align ../examples/cam0_gt.visim ../examples/orbslam_traj.txt

Prerequisites

  • CMake 2.8
  • Eigen3
  • Boost (sudo apt-get install libboost-all-dev)
  • Pangolin

Authors

  • Sajad Saeedi

License

This project is licensed under the MIT License - see the LICENSE.md file for details

License

[1] J. Sturm and N. Engelhard and F. Endres and W. Burgard and D. Cremers}, "A Benchmark for the Evaluation of RGB-D SLAM Systems", IROS 2012.

[2] B. Horn, "Closed-form solution of absolute orientation using unit quaternions", JOSA 1987