├── README.md ├── README ├── LIO-SAM-6AXIS-INTENSITY&type=Date-16604675791593.svg+xml ├── error_example.png ├── evaluation_example.png ├── frames.png ├── image-20220808170219621.png ├── image-20220808182432457.png ├── image-20220810030116770.png └── prcv.jpg ├── doc ├── FusionPortable_IROS_2022.pdf ├── figure │ ├── Checkerboard_Big.png │ ├── Checkerboard_Small.png │ ├── allan.png │ ├── building.png │ ├── campus_road.png │ ├── canteen.png │ ├── corridor.jpg │ ├── corridor.png │ ├── error_example.png │ ├── escalator.jpg │ ├── evaluation_example.png │ ├── frames.png │ ├── garden.png │ ├── mcr.png │ ├── mcr_normal_00.png │ ├── multivehicle.png │ ├── sensor_data.png │ └── statistics_dataset.png └── vslam_evaluation.md └── prcv2022_evaluation ├── README.md ├── README └── image-20220811013057509.png ├── benchmark └── estimated │ ├── report │ ├── PRCV2022.yaml │ └── estimated_trajectory_top.pdf │ └── traj │ ├── 20220216_garden_day.txt │ └── eval_cfg.yaml ├── evaluation ├── CMakeLists.txt ├── package.xml ├── rpg_trajectory_evaluation │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── analyze_trajectories_config │ │ └── .gitignore │ ├── doc │ │ ├── MH_03_trajectory_top.png │ │ ├── MH_03_trans_yaw_error.png │ │ ├── V203_trajectory_top.png │ │ ├── V203_translation_error.png │ │ ├── mh05_rel_translation_error.png │ │ ├── mh05_top_vio_mono.png │ │ ├── mh05_trans_err_vio_mono.png │ │ └── overall_rel_translation_error.png │ ├── package.xml │ ├── results │ │ └── .gitignore │ ├── scripts │ │ ├── __pycache__ │ │ │ ├── add_path.cpython-36.pyc │ │ │ ├── add_path.cpython-38.pyc │ │ │ ├── add_path.cpython-39.pyc │ │ │ ├── analyze_trajectory_single.cpython-36.pyc │ │ │ ├── analyze_trajectory_single.cpython-38.pyc │ │ │ ├── analyze_trajectory_single.cpython-39.pyc │ │ │ ├── fn_constants.cpython-36.pyc │ │ │ ├── fn_constants.cpython-38.pyc │ │ │ ├── fn_constants.cpython-39.pyc │ │ │ ├── rule_score_PRCV2022.cpython-36.pyc │ │ │ ├── rule_score_PRCV2022.cpython-38.pyc │ │ │ └── rule_score_PRCV2022.cpython-39.pyc │ │ ├── add_eval_cfg_recursive.py │ │ ├── add_path.py │ │ ├── add_path.pyc │ │ ├── analyze_trajectories.py │ │ ├── analyze_trajectories_PRCV2022.py │ │ ├── analyze_trajectories_PRCV2022_py3.py │ │ ├── analyze_trajectory_single.py │ │ ├── analyze_trajectory_single.pyc │ │ ├── change_eval_cfg_recursive.py │ │ ├── dataset_tools │ │ │ ├── asl_groundtruth_to_pose.py │ │ │ ├── bag_to_pose.py │ │ │ ├── pose_to_bag.py │ │ │ ├── stamp_state_est.py │ │ │ ├── stamp_state_est_using_matches.py │ │ │ ├── strip_gt_id.py │ │ │ └── transform_trajectory.py │ │ ├── fn_constants.py │ │ ├── fn_constants.pyc │ │ ├── overall_odometry_errors.py │ │ ├── recursive_clean_results_dir.py │ │ ├── rule_score_PRCV2022.py │ │ └── rule_score_PRCV2022.pyc │ ├── setup.py │ └── src │ │ └── rpg_trajectory_evaluation │ │ ├── __init__.py │ │ ├── __pycache__ │ │ ├── align_trajectory.cpython-36.pyc │ │ ├── align_trajectory.cpython-38.pyc │ │ ├── align_trajectory.cpython-39.pyc │ │ ├── align_utils.cpython-36.pyc │ │ ├── align_utils.cpython-38.pyc │ │ ├── align_utils.cpython-39.pyc │ │ ├── associate_timestamps.cpython-36.pyc │ │ ├── associate_timestamps.cpython-38.pyc │ │ ├── associate_timestamps.cpython-39.pyc │ │ ├── compute_trajectory_errors.cpython-36.pyc │ │ ├── compute_trajectory_errors.cpython-38.pyc │ │ ├── compute_trajectory_errors.cpython-39.pyc │ │ ├── metrics.cpython-36.pyc │ │ ├── metrics.cpython-38.pyc │ │ ├── metrics.cpython-39.pyc │ │ ├── multiple_traj_errors.cpython-36.pyc │ │ ├── multiple_traj_errors.cpython-38.pyc │ │ ├── multiple_traj_errors.cpython-39.pyc │ │ ├── plot_utils.cpython-36.pyc │ │ ├── plot_utils.cpython-38.pyc │ │ ├── plot_utils.cpython-39.pyc │ │ ├── results_writer.cpython-36.pyc │ │ ├── results_writer.cpython-38.pyc │ │ ├── results_writer.cpython-39.pyc │ │ ├── trajectory.cpython-36.pyc │ │ ├── trajectory.cpython-38.pyc │ │ ├── trajectory.cpython-39.pyc │ │ ├── trajectory_FusionPortable.cpython-36.pyc │ │ ├── trajectory_FusionPortable.cpython-38.pyc │ │ ├── trajectory_FusionPortable.cpython-39.pyc │ │ ├── trajectory_loading.cpython-36.pyc │ │ ├── trajectory_loading.cpython-38.pyc │ │ ├── trajectory_loading.cpython-39.pyc │ │ ├── trajectory_utils.cpython-36.pyc │ │ ├── trajectory_utils.cpython-38.pyc │ │ ├── trajectory_utils.cpython-39.pyc │ │ ├── transformations.cpython-36.pyc │ │ ├── transformations.cpython-38.pyc │ │ └── transformations.cpython-39.pyc │ │ ├── align_trajectory.py │ │ ├── align_trajectory.pyc │ │ ├── align_utils.py │ │ ├── align_utils.pyc │ │ ├── associate_timestamps.py │ │ ├── associate_timestamps.pyc │ │ ├── compute_trajectory_errors.py │ │ ├── compute_trajectory_errors.pyc │ │ ├── metrics.py │ │ ├── metrics.pyc │ │ ├── multiple_traj_errors.py │ │ ├── multiple_traj_errors.pyc │ │ ├── plot_utils.py │ │ ├── plot_utils.pyc │ │ ├── results_writer.py │ │ ├── results_writer.pyc │ │ ├── trajectory.py │ │ ├── trajectory.pyc │ │ ├── trajectory_FusionPortable.py │ │ ├── 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