Canny-EVT
A library for ***
|
Functions | |
align (model, data) | |
plot_traj (ax, stamps, traj, style, color, label) | |
This script computes the absolute trajectory error from the ground truth trajectory and the estimated trajectory.
evaluate_ate.align | ( | model, | |
data | |||
) |
Align two trajectories using the method of Horn (closed-form). Input: model -- first trajectory (3xn) data -- second trajectory (3xn) Output: rot -- rotation matrix (3x3) trans -- translation vector (3x1) trans_error -- translational error per point (1xn)
evaluate_ate.plot_traj | ( | ax, | |
stamps, | |||
traj, | |||
style, | |||
color, | |||
label | |||
) |
Plot a trajectory using matplotlib. Input: ax -- the plot stamps -- time stamps (1xn) traj -- trajectory (3xn) style -- line style color -- line color label -- plot legend