[evo plot] Plotting package for odometry

[Goal] 

• euroc dataset 의 형식이나 kitti dataset 형식들의 결과를 논문이나 보고를 드릴 때 사용하는 방법

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[Github]

[ https://github.com/MichaelGrupp/evo ]

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[Reference Site]

(1) Virtual Env install

[ https://github.com/MichaelGrupp/evo/blob/9ec1444a9f26a24261e1c126cd4ee2d7877cc395/doc/install_in_virtualenv.md ]

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(2) evo format

[ https://github.com/MichaelGrupp/evo/wiki/Formats ]

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(3) evo plotting setting

[ https://github.com/MichaelGrupp/evo/wiki/Plotting ]

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(4) plot multiple results

[ https://github.com/MichaelGrupp/evo/issues/137 ]

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(5) change background plot results

[ https://github.com/MichaelGrupp/evo/issues/14 ]

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[Error]

"ValueError: could not convert string to float" & "TUM trajectory files must have 8 entries per row and no trailing delimiter at the end of the rows (space)"

    - Solution) convert .csv file to .tum file

# Convert .csv to .tum
$ evo_traj euroc ~.csv --save_as_tum

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[Plot trajectory]

# Example of plot trajectory
$ evo_traj tum Ground_Truth.tum Visual_Inertial_Odometry.tum -p --plot_mode=xy

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[Plot Absolute Pose Error (APE)]

# It must compare two .tum files (In this case, Ground_truth and VIO) 
$ evo_ape tum Ground_Truth.tum Visual_Inertial_Odometry.tum --plot --plot_mode=xy

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[Plot Relative Pose Error (RPE)]

# It must compare two .tum files (In this case, Ground_truth and VIO) 
$ evo_rpe tum Ground_Truth.tum Visual_Inertial_Odometry.tum --plot --plot_mode=xy

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[Plot multiple results from a metric]

• before start, we must select compare result which chosen APE or RPE !!
• Make each zip file first

# For example, Let's assume compare APE
$ evo_ape tum Ground_truth.tum Case_1.tum --save_results Case1.zip
$ evo_ape tum Ground_truth.tum Case_2.tum --save_results Case2.zip
$ evo_ape tum Ground_truth.tum Case_3.tum --save_results Case3.zip

• Then plot all cases

# Plot three Case*.zip
$ evo_res {folder name/*.zip} -p --save_table results/table.csv

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[TIPS]

• Save various extension files
  • more good resolution extension files like .eps & .pdf
• Modify plot result

        [1] go to .zip file and click "info.json" file
        [2] revised "title" & "ref_name" & "est_name"
        [3] Re-compressed folder
        [4] Repeat evo_res process, then we can see changed plot legend

• Change plot background
  • It can change four type for background like "dark, darkgrid, white, whitegrid"

# Change blackgrid to whitegrid
$ evo_config set plot_seaborn_style whitegrid

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[Result]

(1) Plot trajectory

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(2) Plot Absolute Pose Error (APE)

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(3) Plot Relative Pose Error (RPE)

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(4) Plot multiple results from a metric

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(5) Change plot background