52 lines
2.4 KiB
C++
52 lines
2.4 KiB
C++
/*
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* OpenVINS: An Open Platform for Visual-Inertial Research
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* Copyright (C) 2018-2022 Patrick Geneva
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* Copyright (C) 2018-2022 Guoquan Huang
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* Copyright (C) 2018-2022 OpenVINS Contributors
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* Copyright (C) 2018-2019 Kevin Eckenhoff
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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/**
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* @namespace ov_eval
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* @brief Evaluation and recording utilities
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*
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* This project contains the key evaluation and research scripts for localization methods.
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* These come from the necessity of trying to quantify the accuracy of the estimated trajectory while
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* also allowing for the comparision to other methods.
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* Please see the following documentation pages for details:
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*
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* - @ref eval-metrics --- Definitions of different metrics for estimator accuracy.
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* - @ref eval-error --- Error evaluation methods for evaluating system performance.
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* - @ref eval-timing --- Timing of estimator components and complexity.
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*
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* The key methods that we have included are as follows:
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*
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* - Absolute trajectory error
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* - Relative pose error (for varying segment lengths)
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* - Pose to text file recorder
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* - Timing of system components
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*
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* The absolute and relative error scripts have been implemented in C++ to allow for fast computation on multiple runs.
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* We recommend that people look at the [rpg_trajectory_evaluation](https://github.com/uzh-rpg/rpg_trajectory_evaluation) toolbox provided
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* by Zhang and Scaramuzza. For a background we recommend reading their [A Tutorial on Quantitative Trajectory Evaluation for
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* Visual(-Inertial) Odometry](http://rpg.ifi.uzh.ch/docs/IROS18_Zhang.pdf) @cite Zhang2018IROS and its use in [A Benchmark Comparison of
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* Monocular Visual-Inertial Odometry Algorithms for Flying Robots](http://rpg.ifi.uzh.ch/docs/ICRA18_Delmerico.pdf)
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* @cite Delmerico2018ICRA
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*
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*
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*/
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namespace ov_eval {}
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