This is a script toolkit for SLAM research, including but not limited to various plotting functions, ROS bag processing, and more.
| Function | scripts | demo |
|---|---|---|
| Plot Error with EVO results |  |
|
| Plot comparative Error |  |
|
| Plot Graph error |  |
|
| Plot Error with colorbar |  |
|
| Plot pose cov |  |
|
| Visualize 2D/3D trajectory |  |
|
| Visualize RPY |  |
|
| Visualize Position and rotation over time |   |
|
| Analysis GNSS covariance |  |
|
| Run-time analysis |  |
|
| Run-time analysis comparative |  |
first get evo ape and rpe results as test.zip and test_rpe.zip
#dependence
pip3 install zipfile pandas matplotlib numpy
#run
python3 evo_eval_viewer.py#denpendence
pip3 install matplotlib pandas
#run
python3 time_analysis.py
# 1698490753.03 0.135222 221.497434 0.022776 0.491802 236.377261 0.651435 1194.924191 0.132663 3.51924 0
# timestamp module1_time module2_time module3_time module4_time total_time module1_total_time module2_total_time module13_tota_time module4_total_time
# since we just use module2_time and module4_time, we can get the following figure.
# ref to paper: PALoc https://ieeexplore.ieee.org/document/10480308