evaluate_ate Namespace Reference

Functions
	align (model, data)
	plot_traj (ax, stamps, traj, style, color, label)

Variables
	parser = argparse.ArgumentParser(description=)
	help
	default
	action
	args = parser.parse_args()
	first_list = associate.read_file_list(args.first_file)
	second_list = associate.read_file_list(args.second_file)
	matches = associate.associate(first_list, second_list,float(args.offset),float(args.max_difference))
	first_xyz = numpy.matrix([[float(value) for value in first_list[a][0:3]] for a,b in matches]).transpose()
	second_xyz = numpy.matrix([[float(value)*float(args.scale) for value in second_list[b][0:3]] for a,b in matches]).transpose()
	rot
	trans
	trans_error
	second_xyz_aligned = rot * second_xyz + trans
	first_stamps = first_list.keys()
	first_xyz_full = numpy.matrix([[float(value) for value in first_list[b][0:3]] for b in first_stamps]).transpose()
	second_stamps = second_list.keys()
	second_xyz_full = numpy.matrix([[float(value)*float(args.scale) for value in second_list[b][0:3]] for b in second_stamps]).transpose()
	second_xyz_full_aligned = rot * second_xyz_full + trans
	file = open(args.save_associations,"w")
	fig = plt.figure()
	ax = fig.add_subplot(111)
str	label = "difference"
	color
	plot
	dpi

Detailed Description

This script computes the absolute trajectory error from the ground truth
trajectory and the estimated trajectory.

Function Documentation

align()

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)

plot_traj()

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