--- title: 'Plot APE for VIOX (MATLAB)' disqus: hackmd --- Plot APE for VIOX (MATLAB) === ## Table of Contents [TOC] ## Prerequest We need **Matlab** & **evo** for plotting APE ### Matlab * step1. Download [Matlab](https://www.mathworks.com/products/matlab.html) * step2. Install it~ * step3. Download the [Matlab code](https://drive.google.com/drive/folders/1vgDVrpcNskH4qEJZmByjIgWHVpiZn-8O?usp=sharing) for verification ### evo * step1. git clone [evo](https://github.com/MichaelGrupp/evo) ```C++ git clone https://github.com/MichaelGrupp/evo.git ``` * step2. Setting up evo (**need pip3 installed**) * step2-1. [pip3 installation](https://linuxize.com/post/how-to-install-pip-on-ubuntu-18.04/) ```C++ sudo apt update ``` ```C++ sudo apt install python3-pip ``` Check if you install sucessfully ```C++ pip3 --version ``` * step2-2. Setting up evo ```C++ pip3 install --editable . --upgrade --no-binary evo ``` ## Verfify * step1. Run **viox**, and you shoud get **gps_raw.csv** & **pose.csv** in the output folder * step2. Run **evo_llh2xyz.m** in Matlab * Change your **gps_raw.csv** path ```C++ gps_path = '/path/to/gps_raw.csv'; gps_out_path = '/path/to/saving/gps.txt'; ``` * Change your **pose.csv** path ```C++ VIO_path = /path/to/pose.csv'; VIO_out_path ='/path/to/saving/vio.txt'; ``` * step3. Run **evo** 1. For comparing gps & vio, **evo_ape** is avaliable, and the command is something like ```C++ evo_ape tum reference_file estimate_file -p -va ``` * EX. ```C++ evo_ape tum gps.txt vio.txt -p -va ``` 2. For comparing gps & vio1 & vio2, only **evo_traj** is avaliable, and the command is something like ```C++ evo_traj tum estimate_file1 estimate_file2 --ref=reference_file -p --va ``` * EX. ```C++ evo_traj tum vio1.txt vio2.txt --ref=gps.txt -p --va ``` 3. For comparing gps & vio1 & vio2 using evo_ape, please see [this example](https://github.com/MichaelGrupp/evo) ![](https://i.imgur.com/wqqpMtV.png) * Results. You shoud get something like the two pics showing bellow ![](https://i.imgur.com/yM5tPx9.png) ![](https://i.imgur.com/ycrG2Bu.png) ###### tags: `Work`