Improve usability and documentation
Opened this issue · 4 comments
After getting some feedback from our first "customers" there are serveral things that need to be improved:
- Give the user a feedback of how good/bad the calibration is.
Suggestions/Ideas:- Run the python evaluation step after the optimization and optionally plot the results
- Write a summary pdf at the end of the calibration with the most important plots:
- initial time alignment
- initial 3D trajectory, after dual quaternion calibration, after optimization
- RMSE plot after dual quaternion, after optimization
- Provide a separate script to plot the 3D trajectory before and after some given calibration
- Add a short wiki description that describes the 3 steps (time alignment, coarse initial calibration, optimization) and what the plots mean.
What are the good solutions for plotting the trajectories? I'd love to have something nice here.
We already have functions that plot the 3D trajectories, but TBH the 3D plotting tools of matplotlib are not very nice to look at. Actually I just recently started using mayavi/mlab in python and it is very easy to use and a lot nicer and faster (you can still move the 3D plot even with 1000s of elements in it). Here is sth i did there:
I've already implemented the plotting of a pose graph with coordinate frames at the nodes, so I could transfer this.
Ah, yes, I totally forgot about these 3d plots - I think I could hardly use them on Trusty. Sorry. mayavi/mlab looks very interesting.