73 lines
2.2 KiB
C++
73 lines
2.2 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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#include "calc/ResultSimulation.h"
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#include "utils/colors.h"
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#include "utils/print.h"
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#ifdef HAVE_PYTHONLIBS
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// import the c++ wrapper for matplot lib
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// https://github.com/lava/matplotlib-cpp
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// sudo apt-get install python-matplotlib python-numpy python2.7-dev
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#include "plot/matplotlibcpp.h"
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#endif
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int main(int argc, char **argv) {
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// Verbosity setting
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ov_core::Printer::setPrintLevel("INFO");
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// Ensure we have a path
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if (argc < 4) {
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PRINT_ERROR(RED "ERROR: ./error_simulation <file_est.txt> <file_std.txt> <file_gt.txt>\n" RESET);
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PRINT_ERROR(RED "ERROR: rosrun ov_eval error_simulation <file_est.txt> <file_std.txt> <file_gt.txt>\n" RESET);
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std::exit(EXIT_FAILURE);
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}
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// Create our trajectory object
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ov_eval::ResultSimulation traj(argv[1], argv[2], argv[3]);
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// Plot the state errors
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PRINT_INFO("Plotting state variable errors...\n");
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traj.plot_state(true);
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// Plot time offset
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PRINT_INFO("Plotting time offset error...\n");
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traj.plot_timeoff(true, 10);
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// Plot camera intrinsics
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PRINT_INFO("Plotting camera intrinsics...\n");
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traj.plot_cam_instrinsics(true, 60);
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// Plot camera extrinsics
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PRINT_INFO("Plotting camera extrinsics...\n");
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traj.plot_cam_extrinsics(true, 60);
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#ifdef HAVE_PYTHONLIBS
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matplotlibcpp::show(true);
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#endif
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// Done!
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return EXIT_SUCCESS;
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}
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