i2Nav-WHU / evaluate_odometry

Scripts for Odometry Evaluation in SLAM

evaluate_odometry

Scripts for Odometry Evaluation

This repository provide the scripts for odometry evaluation in SLAM. The descriptions are as follows:

• evaluate.py: the evaluation core;
• evaluation_absolute: absolute pose evalution to get translation error in XYZ, and attitude error in euler angles;
• evaluate_odo: the interface for odometry evaluation;
• gpstime.py: gps time and unix second convertion;
• nav2trj.py: convert latitude-longitude-altitude and euler angle to trajectory file;

Authors: Hailiang Tang from the Integrated and Intelligent Navigation (i2Nav) Group, Wuhan University.

1 Prerequisites

Please follow the command to install the prerequisites:

# evo for evaluation
pip install evo

# numpy, matplotlib 
pip install numpy matplotlib

# numpy-quaternion for attitude representation
pip install numpy-quaternion

2 Acknowledgements

We use evo for odometry evaluation.