Class that given two trajectories, will align the two. More...

#include <AlignTrajectory.h>

Static Public Member Functions
static void	align_trajectory (const std::vector< Eigen::Matrix< double, 7, 1 >> &traj_es, const std::vector< Eigen::Matrix< double, 7, 1 >> &traj_gt, Eigen::Matrix3d &R, Eigen::Vector3d &t, double &s, std::string method, int n_aligned=-1)
	Align estimate to GT using a desired method using a set of initial poses. More...

Static Protected Member Functions
static void	align_posyaw (const std::vector< Eigen::Matrix< double, 7, 1 >> &traj_es, const std::vector< Eigen::Matrix< double, 7, 1 >> &traj_gt, Eigen::Matrix3d &R, Eigen::Vector3d &t, int n_aligned=-1)
	Align estimate to GT using only position and yaw (for gravity aligned trajectories) using a set of initial poses. More...

static void	align_posyaw_single (const std::vector< Eigen::Matrix< double, 7, 1 >> &traj_es, const std::vector< Eigen::Matrix< double, 7, 1 >> &traj_gt, Eigen::Matrix3d &R, Eigen::Vector3d &t)
	Align estimate to GT using only position and yaw (for gravity aligned trajectories) using only the first poses. More...

static void	align_se3 (const std::vector< Eigen::Matrix< double, 7, 1 >> &traj_es, const std::vector< Eigen::Matrix< double, 7, 1 >> &traj_gt, Eigen::Matrix3d &R, Eigen::Vector3d &t, int n_aligned=-1)
	Align estimate to GT using a full SE(3) transform using a set of initial poses. More...

static void	align_se3_single (const std::vector< Eigen::Matrix< double, 7, 1 >> &traj_es, const std::vector< Eigen::Matrix< double, 7, 1 >> &traj_gt, Eigen::Matrix3d &R, Eigen::Vector3d &t)
	Align estimate to GT using a full SE(3) transform using only the first poses. More...

static void	align_sim3 (const std::vector< Eigen::Matrix< double, 7, 1 >> &traj_es, const std::vector< Eigen::Matrix< double, 7, 1 >> &traj_gt, Eigen::Matrix3d &R, Eigen::Vector3d &t, double &s, int n_aligned=-1)
	Align estimate to GT using a full SIM(3) transform using a set of initial poses. More...

Detailed Description

Class that given two trajectories, will align the two.

Given two trajectories that have already been time synchronized we will compute the alignment transform between the two. We can do this using different alignment methods such as full SE(3) transform, just postiion and yaw, or SIM(3). These scripts are based on the rpg_trajectory_evaluation toolkit by Zhang and Scaramuzza. Please take a look at their 2018 IROS paper on these methods.

Definition at line 46 of file AlignTrajectory.h.

Member Function Documentation

◆ align_posyaw()

void AlignTrajectory::align_posyaw	(	const std::vector< Eigen::Matrix< double, 7, 1 >> &	traj_es,
		const std::vector< Eigen::Matrix< double, 7, 1 >> &	traj_gt,
		Eigen::Matrix3d &	R,
		Eigen::Vector3d &	t,
		int	n_aligned = `-1`
	)

staticprotected

Align estimate to GT using only position and yaw (for gravity aligned trajectories) using a set of initial poses.

Parameters

traj_es	Estimated trajectory values in estimate frame [pos,quat]
traj_gt	Groundtruth trjaectory in groundtruth frame [pos,quat]
R	Rotation from estimate to GT frame that will be computed
t	translation from estimate to GT frame that will be computed
n_aligned	Number of poses to use for alignment (-1 will use all)

Definition at line 84 of file AlignTrajectory.cpp.

◆ align_posyaw_single()

void AlignTrajectory::align_posyaw_single	(	const std::vector< Eigen::Matrix< double, 7, 1 >> &	traj_es,
		const std::vector< Eigen::Matrix< double, 7, 1 >> &	traj_gt,
		Eigen::Matrix3d &	R,
		Eigen::Vector3d &	t
	)

staticprotected

Align estimate to GT using only position and yaw (for gravity aligned trajectories) using only the first poses.

Parameters

traj_es	Estimated trajectory values in estimate frame [pos,quat]
traj_gt	Groundtruth trjaectory in groundtruth frame [pos,quat]
R	Rotation from estimate to GT frame that will be computed
t	translation from estimate to GT frame that will be computed

Definition at line 57 of file AlignTrajectory.cpp.

◆ align_se3()

void AlignTrajectory::align_se3	(	const std::vector< Eigen::Matrix< double, 7, 1 >> &	traj_es,
		const std::vector< Eigen::Matrix< double, 7, 1 >> &	traj_gt,
		Eigen::Matrix3d &	R,
		Eigen::Vector3d &	t,
		int	n_aligned = `-1`
	)

staticprotected

Align estimate to GT using a full SE(3) transform using a set of initial poses.

Parameters

traj_es	Estimated trajectory values in estimate frame [pos,quat]
traj_gt	Groundtruth trjaectory in groundtruth frame [pos,quat]
R	Rotation from estimate to GT frame that will be computed
t	translation from estimate to GT frame that will be computed
n_aligned	Number of poses to use for alignment (-1 will use all)

Definition at line 126 of file AlignTrajectory.cpp.

◆ align_se3_single()

void AlignTrajectory::align_se3_single	(	const std::vector< Eigen::Matrix< double, 7, 1 >> &	traj_es,
		const std::vector< Eigen::Matrix< double, 7, 1 >> &	traj_gt,
		Eigen::Matrix3d &	R,
		Eigen::Vector3d &	t
	)

staticprotected

Align estimate to GT using a full SE(3) transform using only the first poses.

Parameters

traj_es	Estimated trajectory values in estimate frame [pos,quat]
traj_gt	Groundtruth trjaectory in groundtruth frame [pos,quat]
R	Rotation from estimate to GT frame that will be computed
t	translation from estimate to GT frame that will be computed

Definition at line 108 of file AlignTrajectory.cpp.

◆ align_sim3()

void AlignTrajectory::align_sim3	(	const std::vector< Eigen::Matrix< double, 7, 1 >> &	traj_es,
		const std::vector< Eigen::Matrix< double, 7, 1 >> &	traj_gt,
		Eigen::Matrix3d &	R,
		Eigen::Vector3d &	t,
		double &	s,
		int	n_aligned = `-1`
	)

staticprotected

Align estimate to GT using a full SIM(3) transform using a set of initial poses.

Parameters

traj_es	Estimated trajectory values in estimate frame [pos,quat]
traj_gt	Groundtruth trjaectory in groundtruth frame [pos,quat]
R	Rotation from estimate to GT frame that will be computed
t	translation from estimate to GT frame that will be computed
s	scale from estimate to GT frame that will be computed
n_aligned	Number of poses to use for alignment (-1 will use all)

Definition at line 149 of file AlignTrajectory.cpp.

◆ align_trajectory()

void AlignTrajectory::align_trajectory	(	const std::vector< Eigen::Matrix< double, 7, 1 >> &	traj_es,
		const std::vector< Eigen::Matrix< double, 7, 1 >> &	traj_gt,
		Eigen::Matrix3d &	R,
		Eigen::Vector3d &	t,
		double &	s,
		std::string	method,
		int	n_aligned = `-1`
	)

static

Align estimate to GT using a desired method using a set of initial poses.

Parameters

traj_es	Estimated trajectory values in estimate frame [pos,quat]
traj_gt	Groundtruth trjaectory in groundtruth frame [pos,quat]
R	Rotation from estimate to GT frame that will be computed
t	translation from estimate to GT frame that will be computed
s	scale from estimate to GT frame that will be computed
method	Method used for alignment
n_aligned	Number of poses to use for alignment (-1 will use all)

Definition at line 26 of file AlignTrajectory.cpp.

The documentation for this class was generated from the following files:

Static Public Member Functions

Static Protected Member Functions

Detailed Description

Member Function Documentation

◆ align_posyaw()

◆ align_posyaw_single()

◆ align_se3()

◆ align_se3_single()

◆ align_sim3()

◆ align_trajectory()