evo_res指令使用及各参数使用效果

evo_res --help
usage: evo_res [-h] [--merge] [--use_rel_time] [--use_filenames]
?????????????? [--ignore_title] [-p] [--plot_markers] [--save_plot SAVE_PLOT]
?????????????? [--serialize_plot SERIALIZE_PLOT] [--save_table SAVE_TABLE]
?????????????? [--logfile LOGFILE] [--no_warnings] [-v] [--silent] [--debug]
?????????????? [-c CONFIG]
?????????????? result_files [result_files ...]

tool for processing one or multiple result files (c) evo authors

positional arguments:
? result_files????????? one or multiple result files

optional arguments:
? -h, --help??????????? show this help message and exit
? --merge?????????????? merge the results into a single one
? --use_rel_time??????? use relative timestamps if available
? --use_filenames?????? use the filenames to label the data
? --ignore_title??????? don't try to find a common metric title

output options:
? -p, --plot??????????? show plot window
? --plot_markers??????? plot with circle markers
? --save_plot SAVE_PLOT
??????????????????????? path to save plot
? --serialize_plot SERIALIZE_PLOT
??????????????????????? path to serialize plot (experimental)
? --save_table SAVE_TABLE
??????????????????????? path to a file to save the results in a table
? --logfile LOGFILE???? Local logfile path.

usability options:
? --no_warnings???????? no warnings requiring user confirmation
? -v, --verbose???????? verbose output
? --silent????????????? don't print any output
? --debug?????????????? verbose output with additional debug info
? -c CONFIG, --config CONFIG
??????????????????????? .json file with parameters (priority over command line

翻译之后
evo_res --help
usage: evo_res [-h] [--merge] [--use_rel_time] [--use_filenames]
?????????????? [--ignore_title] [-p] [--plot_markers] [--save_plot SAVE_PLOT]
?????????????? [--serialize_plot SERIALIZE_PLOT] [--save_table SAVE_TABLE]
?????????????? [--logfile LOGFILE] [--no_warnings] [-v] [--silent] [--debug]
?????????????? [-c CONFIG]
?????????????? result_files [result_files ...]

tool for processing one or multiple result files (c) evo authors
用于处理一个或多个结果文件的工具（c）evo作者

positional arguments:位置参数：
? result_files????????? one or multiple result filesresult_file一个或多个结果文件

optional arguments:可选参数：
? -h, --help??????????? show this help message and exit 显示此帮助消息并退出
? --merge?????????????? merge the results into a single one将结果合并为一个结果
? --use_rel_time??????? use relative timestamps if available可以的话请使用相对时间戳
? --use_filenames?????? use the filenames to label the data使用文件名标记数据
? --ignore_title??????? don't try to find a common metric title不尝试查找通用度量标题

output options:输出选项：
? -p, --plot??????????? show plot window绘图显示绘图窗口
? --plot_markers??????? plot with circle markers使用圆形标记打印
? --save_plot SAVE_PLOT
??????????????????????? path to save plot保存绘图的路径
? --serialize_plot SERIALIZE_PLOT
??????????????????????? path to serialize plot (experimental)序列化绘图的路径（实验）
? --save_table SAVE_TABLE
??????????????????????? path to a file to save the results in a table将结果保存在表中的文件的路径
? --logfile LOGFILE???? Local logfile path.本地日志文件路径。

usability options:可用性选项：
? --no_warnings???????? no warnings requiring user confirmation无需用户确认的警告
? -v, --verbose???????? verbose output详细输出
? --silent????????????? don't print any output不打印任何输出
? --debug?????????????? verbose output with additional debug info使用附加调试信息调试详细输出
? -c CONFIG, --config CONFIG
??????????????????????? .json file with parameters (priority over command line带有参数的.json文件（优先级高于命令行

效果演示

按需使用

以VINS的输出轨迹为例，演示各参数实际效果

evo_res no_l.zip l.zip

$ evo_res no_l.zip l.zip

APE w.r.t. translation part (m)
(with Sim(3) Umeyama alignment)

?????????????????????????? max????? mean??? median??????? min????? rmse? \
vins_result_no_lo...? 0.438398? 0.148959? 0.131542? 0.0218703? 0.170383? ?
vins_result_loop.txt? 0.384438? 0.156007? 0.141948? 0.0109087? 0.185972? ?

?????????????????????????? sse??????? std ?
vins_result_no_lo...?? 3.33851? 0.0827144 ?
vins_result_loop.txt? 0.795467??? 0.10123?

evo_res no_l.zip l.zip? -v?

? -v, --verbose???????? verbose output详细输出

$ evo_res no_l.zip l.zip? -v
Loading result from no_l.zip ...
Loading result from l.zip ...
--------------------------------------------------------------------------------
Aggregated dataframe:
???????????????????????????? vins_result_no_loop.txt vins_result_loop.txt
info????? est_name??????????? vins_result_no_l...???? vins_result_loop...
????????? label?????????????????????????? APE (m)???????????????? APE (m)
????????? ref_name???????????????????????? gt.txt????????????????? gt.txt
????????? title?????????????? APE w.r.t. trans...???? APE w.r.t. trans...
np_arrays error_array???????? [0.2435494878540...???? [0.2465613955623...
????????? seconds_from_start? [0.0, 0.13390660...???? [0.0, 0.53564167...
????????? timestamps????????? [1627729515.8364...???? [1627729518.7817...
stats???? max??????????????????????????? 0.438398??????????????? 0.384438
????????? mean?????????????????????????? 0.148959??????????????? 0.156007
????????? median???????????????????????? 0.131542??????????????? 0.141948
????????? min?????????????????????????? 0.0218703?????????????? 0.0109087
????????? rmse?????????????????????????? 0.170383??????????????? 0.185972
????????? sse???????????????????????????? 3.33851??????????????? 0.795467
????????? std?????????????????????????? 0.0827144???????????????? 0.10123
--------------------------------------------------------------------------------

APE w.r.t. translation part (m)
(with Sim(3) Umeyama alignment)

?????????????????????????? max????? mean??? median??????? min????? rmse? \
vins_result_no_lo...? 0.438398? 0.148959? 0.131542? 0.0218703? 0.170383? ?
vins_result_loop.txt? 0.384438? 0.156007? 0.141948? 0.0109087? 0.185972? ?

?????????????????????????? sse??????? std ?
vins_result_no_lo...?? 3.33851? 0.0827144 ?
vins_result_loop.txt? 0.795467??? 0.10123?

输出相关指令?

evo_res no_l.zip l.zip?? -p

? -p, --plot??????????? show plot window绘图显示绘图窗口?

$ evo_res no_l.zip l.zip?? -p

APE w.r.t. translation part (m)
(with Sim(3) Umeyama alignment)

?????????????????????????? max????? mean??? median??????? min????? rmse? \
vins_result_no_lo...? 0.438398? 0.148959? 0.131542? 0.0218703? 0.170383? ?
vins_result_loop.txt? 0.384438? 0.156007? 0.141948? 0.0109087? 0.185972? ?

?????????????????????????? sse??????? std ?
vins_result_no_lo...?? 3.33851? 0.0827144 ?
vins_result_loop.txt? 0.795467??? 0.10123?

绘图共有5个标签。

evo_res no_l.zip l.zip? -p --plot_markers

? --plot_markers??????? plot with circle markers使用圆形标记打印

$ evo_reso_l.zip l.zip? -p --plot_markers

APE w.r.t. translation part (m)
(with Sim(3) Umeyama alignment)

?????????????????????????? max????? mean??? median??????? min????? rmse? \
vins_result_no_lo...? 0.438398? 0.148959? 0.131542? 0.0218703? 0.170383? ?
vins_result_loop.txt? 0.384438? 0.156007? 0.141948? 0.0109087? 0.185972? ?

?????????????????????????? sse??????? std ?
vins_result_no_lo...?? 3.33851? 0.0827144 ?
vins_result_loop.txt? 0.795467??? 0.10123?

加了--plot_markers之后主要是在raw绘图使用大圆点这一差别。

evo_res no_l.zip l.zip --save_plot ./plot.pdf

? --save_plot SAVE_PLOT??????????????????????? path to save plot保存绘图的路径

$ evo_res no_l.zip l.zip?? --save_plot ./plot.pdf

APE w.r.t. translation part (m)
(with Sim(3) Umeyama alignment)

?????????????????????????? max????? mean??? median??????? min????? rmse? \
vins_result_no_lo...? 0.438398? 0.148959? 0.131542? 0.0218703? 0.170383? ?
vins_result_loop.txt? 0.384438? 0.156007? 0.141948? 0.0109087? 0.185972? ?

?????????????????????????? sse??????? std ?
vins_result_no_lo...?? 3.33851? 0.0827144 ?
vins_result_loop.txt? 0.795467??? 0.10123 ?

Plots saved to ./plot.pdf

save_plot保存图片为pdf文件，SAVE_PLOT不要用文件夹路径或者其他文件后缀名的路径，最好是pdf文件后缀的路径或者无后缀的文件的路径。

evo_res no_l.zip l.zip --serialize_plot ./serial

?--serialize_plot SERIALIZE_PLOT

??????????????????????? path to serialize plot (experimental)序列化绘图的路径（实验）

$ evo_res no_l.zip l.zip??? --serialize_plot ./serial

APE w.r.t. translation part (m)
(with Sim(3) Umeyama alignment)

?????????????????????????? max????? mean??? median??????? min????? rmse? \
vins_result_no_lo...? 0.438398? 0.148959? 0.131542? 0.0218703? 0.170383? ?
vins_result_loop.txt? 0.384438? 0.156007? 0.141948? 0.0109087? 0.185972? ?

?????????????????????????? sse??????? std ?
vins_result_no_lo...?? 3.33851? 0.0827144 ?
vins_result_loop.txt? 0.795467??? 0.10123?

当前文件夹下生成一个serial文件，内容无法直观理解。

evo_res no_l.zip l.zip? --save_table ./table.txt

--save_table SAVE_TABLE
??????????????????????? path to a file to save the results in a table将结果保存在表中的文件的路径

$ evo_res no_l.zip l.zip??? --save_table ./table.txt

APE w.r.t. translation part (m)
(with Sim(3) Umeyama alignment)

?????????????????????????? max????? mean??? median??????? min????? rmse? \
vins_result_no_lo...? 0.438398? 0.148959? 0.131542? 0.0218703? 0.170383? ?
vins_result_loop.txt? 0.384438? 0.156007? 0.141948? 0.0109087? 0.185972? ?

?????????????????????????? sse??????? std ?
vins_result_no_lo...?? 3.33851? 0.0827144 ?
vins_result_loop.txt? 0.795467??? 0.10123?

保存结果到table.txt文件中，文件内容：

,max,mean,median,min,rmse,sse,std
vins_result_no_loop.txt,0.4383977275594648,0.1489591297376942,0.13154172411967663,0.021870345732747924,0.1703833880551451,3.338507376392269,0.08271442796114209
vins_result_loop.txt,0.38443759977911424,0.15600665868307592,0.14194846352691584,0.01090871540602807,0.1859718638015804,0.7954672848941721,0.10122972178355431

evo_res no_l.zip l.zip? --logfile ./log

?--logfile LOGFILE???? Local logfile path本地日志文件路径

$ evo_res no_l.zip l.zip? --logfile ./log

APE w.r.t. translation part (m)
(with Sim(3) Umeyama alignment)

?????????????????????????? max????? mean??? median??????? min????? rmse? \
vins_result_no_lo...? 0.438398? 0.148959? 0.131542? 0.0218703? 0.170383? ?
vins_result_loop.txt? 0.384438? 0.156007? 0.141948? 0.0109087? 0.185972? ?

?????????????????????????? sse??????? std ?
vins_result_no_lo...?? 3.33851? 0.0827144 ?
vins_result_loop.txt? 0.795467??? 0.10123?

?保存结果到本地文件中，文件内容包含-v参数的输出结果和简单的[DEBUG]信息。

其他参数

evo_res no_l.zip l.zip?? --use_filenames

? --use_rel_time??????? use relative timestamps if available可以的话请使用相对时间戳

$ evo_res no_l.zip l.zip?? --use_filenames

APE w.r.t. translation part (m)
(with Sim(3) Umeyama alignment)

?????????????? max????? mean??? median??????? min????? rmse?????? sse? \
no_l.zip? 0.438398? 0.148959? 0.131542? 0.0218703? 0.170383?? 3.33851? ?
l.zip???? 0.384438? 0.156007? 0.141948? 0.0109087? 0.185972? 0.795467? ?

??????????????? std ?
no_l.zip? 0.0827144 ?
l.zip?????? 0.10123?

evo_res no_l.zip l.zip?? --ignore_title

? --ignore_title??????? don't try to find a common metric title不尝试查找通用度量标题

$ evo_res no_l.zip l.zip?? --ignore_title
?????????????????????????? max????? mean??? median??????? min????? rmse? \
vins_result_no_lo...? 0.438398? 0.148959? 0.131542? 0.0218703? 0.170383? ?
vins_result_loop.txt? 0.384438? 0.156007? 0.141948? 0.0109087? 0.185972? ?

?????????????????????????? sse??????? std ?
vins_result_no_lo...?? 3.33851? 0.0827144 ?
vins_result_loop.txt? 0.795467??? 0.10123?

evo_res no_l.zip l.zip? --silent

? --silent????????????? don't print any output不打印任何输出

$ evo_res no_l.zip l.zip? --silent?

evo_res no_l.zip l.zip --debug

? --debug?????????????? verbose output with additional debug info使用附加调试信息调试详细输出

$ evo_res no_l.zip l.zip --debug
[DEBUG][2023-12-12 20:39:55,923][log.configure_logging():114]
System info:
Python 2.7.17
Linux-5.4.0-113-generic-x86_64-with-Ubuntu-18.04-bionic
?

[DEBUG][2023-12-12 20:39:55,923][main_res.run():132]
main_parser config:
{'config': None,
?'debug': True,
?'ignore_title': False,
?'logfile': None,
?'merge': False,
?'no_warnings': False,
?'plot': False,
?'plot_markers': False,
?'result_files': ['no_l.zip', 'l.zip'],
?'save_plot': None,
?'save_table': None,
?'serialize_plot': None,
?'silent': False,
?'use_filenames': False,
?'use_rel_time': False,
?'verbose': False}

[DEBUG][2023-12-12 20:39:55,924][file_interface.load_res_file():358]
Loading result from no_l.zip ...
[DEBUG][2023-12-12 20:39:55,928][file_interface.load_res_file():358]
Loading result from l.zip ...
[DEBUG][2023-12-12 20:39:55,933][main_res.run():202]
--------------------------------------------------------------------------------
[DEBUG][2023-12-12 20:39:55,936][main_res.run():204]
Aggregated dataframe:
???????????????????????????? vins_result_no_loop.txt vins_result_loop.txt
info????? est_name??????????? vins_result_no_l...???? vins_result_loop...
????????? label?????????????????????????? APE (m)???????????????? APE (m)
????????? ref_name???????????????????????? gt.txt????????????????? gt.txt
????????? title?????????????? APE w.r.t. trans...???? APE w.r.t. trans...
np_arrays error_array???????? [0.2435494878540...???? [0.2465613955623...
????????? seconds_from_start? [0.0, 0.13390660...???? [0.0, 0.53564167...
????????? timestamps????????? [1627729515.8364...???? [1627729518.7817...
stats???? max??????????????????????????? 0.438398??????????????? 0.384438
????????? mean?????????????????????????? 0.148959??????????????? 0.156007
????????? median???????????????????????? 0.131542??????????????? 0.141948
????????? min?????????????????????????? 0.0218703?????????????? 0.0109087
????????? rmse?????????????????????????? 0.170383??????????????? 0.185972
????????? sse???????????????????????????? 3.33851??????????????? 0.795467
????????? std?????????????????????????? 0.0827144???????????????? 0.10123
[DEBUG][2023-12-12 20:39:55,936][main_res.run():207]
--------------------------------------------------------------------------------
[INFO][2023-12-12 20:39:55,936][main_res.run():209]

APE w.r.t. translation part (m)
(with Sim(3) Umeyama alignment)

[INFO][2023-12-12 20:39:55,938][main_res.run():210]
?????????????????????????? max????? mean??? median??????? min????? rmse? \
vins_result_no_lo...? 0.438398? 0.148959? 0.131542? 0.0218703? 0.170383? ?
vins_result_loop.txt? 0.384438? 0.156007? 0.141948? 0.0109087? 0.185972? ?

?????????????????????????? sse??????? std ?
vins_result_no_lo...?? 3.33851? 0.0827144 ?
vins_result_loop.txt? 0.795467??? 0.10123?

效果不明显的参数

受限于笔者所使用的zip，有些指令的效果并不明显。

evo_res no_l.zip l.zip --use_rel_time

可以的话请使用相对时间戳

$ evo_res no_l.zip l.zip --use_rel_time

APE w.r.t. translation part (m)
(with Sim(3) Umeyama alignment)

?????????????????????????? max????? mean??? median??????? min????? rmse? \
vins_result_no_lo...? 0.438398? 0.148959? 0.131542? 0.0218703? 0.170383? ?
vins_result_loop.txt? 0.384438? 0.156007? 0.141948? 0.0109087? 0.185972? ?

?????????????????????????? sse??????? std ?
vins_result_no_lo...?? 3.33851? 0.0827144 ?
vins_result_loop.txt? 0.795467??? 0.10123?

evo_res no_l.zip l.zip --no_warnings

? --no_warnings???????? no warnings requiring user confirmation无需用户确认的警告

$ evo_res no_l.zip l.zip --no_warnings

APE w.r.t. translation part (m)
(with Sim(3) Umeyama alignment)

?????????????????????????? max????? mean??? median??????? min????? rmse? \
vins_result_no_lo...? 0.438398? 0.148959? 0.131542? 0.0218703? 0.170383? ?
vins_result_loop.txt? 0.384438? 0.156007? 0.141948? 0.0109087? 0.185972? ?

?????????????????????????? sse??????? std ?
vins_result_no_lo...?? 3.33851? 0.0827144 ?
vins_result_loop.txt? 0.795467??? 0.10123?

无警告，因此no_warnings的效果不明显。

总结

1.evo_res可以处理多条轨迹

evo_res  no_l.zip l.zip result3.zip  -p

2.详细数据使用-v参数，但是也没有多么详细。

3.绘图

evo_res no_l.zip l.zip -p

?保存图片使用? --save_plot SAVE_PLOT参数。

文章来源:https://blog.csdn.net/weixin_56337147/article/details/134942605
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