SLAMTools

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

Viewer

Evaluate with EVO results

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

Run_time_analysis

#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

pose_graph_cov_2d

tum_traj_viewer

tum_rpy_viewer

var_analysis

Evaluation

eval_rpy_viewer.py

eval_xyz_viewer

eval_xyz_viewer_colorbar

Contributors