/traj_eval

A repository to be used with the rpg_trajectory_evaluation toolbox

Primary LanguageC++

trajectory_evaluation

A package to be used with rpg_trajectory_evaluation

Usage

  • A node that subscribes to the grountruth_topic and trajectory_estimation topic and writes them to a file in the prescribed format
rosrun traj_eval vm_eval

Poses

The groundtruth (stamped_groundtruth.txt) and estimated poses (stamped_traj_estimate.txt) are specified in the following format

# timestamp tx ty tz qx qy qz qw
1.403636580013555527e+09 1.258278699999999979e-02 -1.561510199999999963e-03 -4.015300900000000339e-02 -5.131151899999999988e-02 -8.092916900000000080e-01 8.562779200000000248e-04 5.851609599999999523e-01
......