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Result

class ATEResult

This class represents a set of absolute trajectory deviations

Absolute trajectory deviations describe absolute pose deviations between two trajectories. The deviations are calculated by comparing pairs of positions and orientations in the test and reference trajectory.

Attributes:

  • trajectory (Trajectory): The trajectory the deviations are belonging to
  • abs_dev (AbsoluteTrajectoryDeviations): The absolute trajectory deviations
  • name (str): The name of the result

method ATEResult.__init__

__init__(
    trajectory: trajectopy.core.trajectory.Trajectory,
    abs_dev: trajectopy.core.evaluation.deviations.AbsoluteTrajectoryDeviations,
    name: str = ''
) → None

property ATEResult.columns

Returns the column names of the dataframe

property ATEResult.has_orientation

Returns True if orientation is available

property ATEResult.pos_ate

Returns mean of 3d position deviations

property ATEResult.pos_bias_along

Returns along track bias

property ATEResult.pos_bias_cross_h

Returns horizontal cross track bias

property ATEResult.pos_bias_cross_v

Returns vertical cross track bias

property ATEResult.pos_bias_x

Returns x bias

property ATEResult.pos_bias_y

Returns y bias

property ATEResult.pos_bias_z

Returns z bias

property ATEResult.pos_dev_along

Returns deviations of along track deviations

property ATEResult.pos_dev_comb

Returns position deviations combined using the L2 norm

property ATEResult.pos_dev_cross_h

Returns deviations of horizontal cross track deviations

property ATEResult.pos_dev_cross_v

Returns deviations of vertical cross track deviations

property ATEResult.pos_dev_max

Returns max of 3d position deviations

property ATEResult.pos_dev_median

Returns min of 3d position deviations

property ATEResult.pos_dev_min

Returns min of 3d position deviations

property ATEResult.pos_dev_rms

Returns RMS of 3d positions

property ATEResult.pos_dev_std

Returns std of 3d position deviations

property ATEResult.pos_dev_x

Returns x deviations

property ATEResult.pos_dev_y

Returns y deviations

property ATEResult.pos_dev_z

Returns z deviations

property ATEResult.pos_rms_along

Returns RMS of along track deviations

property ATEResult.pos_rms_cross_h

Returns RMS of horizontal cross track deviations

property ATEResult.pos_rms_cross_v

Returns RMS of vertical cross track deviations

property ATEResult.pos_rms_x

Returns RMS of x deviations

property ATEResult.pos_rms_y

Returns RMS of y deviations

property ATEResult.pos_rms_z

Returns RMS of z deviations

property ATEResult.property_dict

property ATEResult.rot_ate

Returns mean of rotation deviations

property ATEResult.rot_bias_x

Returns roll bias

property ATEResult.rot_bias_y

Returns pitch bias

property ATEResult.rot_bias_z

Returns yaw bias

property ATEResult.rot_dev_comb

Returns rotation deviations as single rotation angles

property ATEResult.rot_dev_max

Returns max of rotations

property ATEResult.rot_dev_median

Returns median of rotations

property ATEResult.rot_dev_min

Returns min of rotations

property ATEResult.rot_dev_rms

Returns RMS of rotations

property ATEResult.rot_dev_std

Returns STD of rotations

property ATEResult.rot_dev_x

Returns roll deviations

property ATEResult.rot_dev_y

Returns pitch deviations

property ATEResult.rot_dev_z

Returns yaw deviations

property ATEResult.rot_rms_x

Returns RMS of roll deviations

property ATEResult.rot_rms_y

Returns RMS of pitch deviations

property ATEResult.rot_rms_z

Returns RMS of yaw deviations

handler ATEResult.rot_bias_xyz

handler ATEResult.rot_dev_xyz

classmethod ATEResult.from_file

from_file(filename: str)

method ATEResult.to_dataframe

to_dataframe() → DataFrame

Exports results as pandas dataframe

method ATEResult.to_file

to_file(filename: str, mode: str = 'a') → None

Exports results as csv

class RPEResult

This class represents a set of relative trajectory deviations

Relative trajectory deviations describe relative pose deviations between two trajectories. The deviations are calculated by comparing pairs of positions and orientations in the test and reference trajectory.

Attributes:

  • rpe_dev (RelativeTrajectoryDeviations): The relative trajectory deviations.
  • name (str): Name of the deviation set.

method RPEResult.__init__

__init__(
    rpe_dev: trajectopy.core.evaluation.deviations.RelativeTrajectoryDeviations,
    name: str
) → None

property RPEResult.all_pair_distances

property RPEResult.all_rot_devs

property RPEResult.columns

property RPEResult.drift_factor

property RPEResult.dynamic_pos_dict

property RPEResult.dynamic_rot_dict

property RPEResult.has_rot_dev

property RPEResult.mean_pair_distances

property RPEResult.num_pairs

property RPEResult.pair_distance_unit

property RPEResult.pos_dev_all

property RPEResult.pos_dev_max

property RPEResult.pos_dev_mean

property RPEResult.pos_dev_median

property RPEResult.pos_dev_min

property RPEResult.pos_drift_unit

property RPEResult.pos_rpe

property RPEResult.pos_std

property RPEResult.property_dict

Returns a dictionary containing the properties of the deviation set relevant for time based comparisons. This is the case when pose-pairs are defined by a time difference.

property RPEResult.rot_dev_max

property RPEResult.rot_dev_mean

property RPEResult.rot_dev_median

property RPEResult.rot_dev_min

property RPEResult.rot_drift_unit

property RPEResult.rot_rpe

Returns the average rotation drift in radians per 100 meters.

property RPEResult.rot_std

property RPEResult.step

method RPEResult.compute_metric

compute_metric(
    key: str,
    func: Callable[[Any], float],
    factor: float = 1.0
) → List[float]

classmethod RPEResult.from_file

from_file(filename: str)

Reads a set of relative trajectory deviations from a file.

method RPEResult.get_all

get_all(key: str) → List[float]

method RPEResult.to_dataframe

to_dataframe() → DataFrame

method RPEResult.to_file

to_file(filename: str, mode: str = 'a') → None