├── .gitignore ├── LICENSE ├── README.md ├── convert ├── convertOurPose │ ├── CMakeLists.txt │ ├── config │ │ └── config.yaml │ ├── convert_pose.cpp │ └── getgt.cpp ├── convertpose.py ├── kitti2Tum │ ├── CMakeLists.txt │ ├── convert1.cpp │ ├── convert2.cpp │ └── 说明 ├── kitti_poses_and_timestamps_to_tum.py ├── pose_format_convert │ ├── CMakeLists.txt │ └── convert.cpp └── rtkgps2pose │ ├── TF.py │ └── rtkgps2xy.py ├── tools ├── evo-plot │ ├── .ci │ │ ├── mac-os_before_install.sh │ │ └── set_pip_name.sh │ ├── .github │ │ └── ISSUE_TEMPLATE │ │ │ ├── error-report.md │ │ │ ├── feature_request.md │ │ │ └── question-about-a-concept.md │ ├── .gitignore │ ├── .travis.yml │ ├── LICENSE │ ├── MANIFEST.in │ ├── README.md │ ├── _config.yml │ ├── appveyor.yml │ ├── contrib │ │ ├── README.md │ │ ├── multiply_timestamps.py │ │ ├── print_duplicate_timestamps.sh │ │ ├── record_tf_as_posestamped_bag.py │ │ └── rename_est_name.py │ ├── doc │ │ ├── alignment_demo.py │ │ ├── assets │ │ │ ├── ape_demo_ORB_map.png │ │ │ ├── ape_demo_ORB_raw.png │ │ │ ├── ape_demo_S-PTAM_map.png │ │ │ ├── ape_demo_S-PTAM_raw.png │ │ │ ├── res_box.png │ │ │ ├── res_dist.png │ │ │ ├── res_raw.png │ │ │ ├── res_stats.png │ │ │ ├── res_violin.png │ │ │ ├── traj_demo.png │ │ │ └── traj_demo_xyz.png │ │ ├── examples │ │ │ ├── config_ape.example.json │ │ │ ├── config_rpe-for-each.example.json │ │ │ ├── config_rpe.example.json │ │ │ └── custom_app.py │ │ ├── install_in_virtualenv.md │ │ ├── jupyter_notebook.md │ │ └── performance.md │ ├── evo │ │ ├── LICENSE │ │ ├── __init__.py │ │ ├── common_ape_rpe.py │ │ ├── core │ │ │ ├── __init__.py │ │ │ ├── filters.py │ │ │ ├── geometry.py │ │ │ ├── lie_algebra.py │ │ │ ├── metrics.py │ │ │ ├── result.py │ │ │ ├── sync.py │ │ │ ├── trajectory.py │ │ │ └── transformations.py │ │ ├── entry_points.py │ │ ├── ipython_config.py │ │ ├── main_ape.py │ │ ├── main_config.py │ │ ├── main_evo.py │ │ ├── main_fig.py │ │ ├── main_ipython.py │ │ ├── main_res.py │ │ ├── main_rpe.py │ │ ├── main_traj.py │ │ ├── tools │ │ │ ├── __init__.py │ │ │ ├── compat.py │ │ │ ├── file_interface.py │ │ │ ├── log.py │ │ │ ├── pandas_bridge.py │ │ │ ├── plot.py │ │ │ ├── settings.py │ │ │ ├── settings_template.py │ │ │ └── user.py │ │ └── version │ ├── fastentrypoints.py │ ├── notebooks │ │ ├── metrics.py_API_Documentation.ipynb │ │ ├── metrics_interactive.ipynb │ │ ├── metrics_tutorial.ipynb │ │ └── pandas_bridge.ipynb │ ├── setup.cfg │ ├── setup.py │ └── test │ │ ├── ape_rpe_smoke_test.py │ │ ├── cfg │ │ ├── ape_rpe │ │ │ ├── all_pairs_deg.json │ │ │ ├── all_pairs_frames.json │ │ │ ├── all_pairs_meters.json │ │ │ ├── all_pairs_rad.json │ │ │ ├── not_aligned.json │ │ │ ├── se3_aligned.json │ │ │ ├── sim3_aligned.json │ │ │ ├── t_offset.json │ │ │ ├── write_assets_xy.json │ │ │ └── write_assets_xyz.json │ │ ├── res │ │ │ ├── use_filenames.json │ │ │ ├── use_rel_time.json │ │ │ └── write_assets.json │ │ ├── tf │ │ │ └── tf.json │ │ └── traj │ │ │ ├── bag │ │ │ ├── export.json │ │ │ └── merge.json │ │ │ ├── common │ │ │ ├── align_100.json │ │ │ ├── full_check.json │ │ │ ├── not_aligned.json │ │ │ ├── se3_aligned.json │ │ │ ├── sim3_aligned.json │ │ │ ├── write_assets_xy.json │ │ │ └── write_assets_xyz.json │ │ │ ├── euroc │ │ │ └── export.json │ │ │ ├── kitti │ │ │ └── export.json │ │ │ └── tum │ │ │ ├── export.json │ │ │ └── merge.json │ │ ├── context.py │ │ ├── data │ │ ├── .gitignore │ │ ├── KITTI_00_ORB.txt │ │ ├── KITTI_00_SPTAM.txt │ │ ├── KITTI_00_gt.txt │ │ ├── ROS_example.bag │ │ ├── V102.txt │ │ ├── V102_groundtruth.csv │ │ ├── fr2_desk_ORB.txt │ │ ├── fr2_desk_ORB_kf_mono.txt │ │ ├── fr2_desk_groundtruth.txt │ │ ├── freiburg1_xyz-ORB_kf_mono.txt │ │ ├── freiburg1_xyz-groundtruth.txt │ │ ├── freiburg1_xyz-rgbdslam.txt │ │ ├── freiburg1_xyz-rgbdslam_drift.txt │ │ ├── freiburg1_xyz-rgbdslam_drift_short.txt │ │ └── res_files │ │ │ ├── orb_ape.zip │ │ │ ├── orb_rpe-for-each.zip │ │ │ ├── orb_rpe.zip │ │ │ ├── sptam_ape.zip │ │ │ ├── sptam_rpe-for-each.zip │ │ │ └── sptam_rpe.zip │ │ ├── demos │ │ ├── .gitignore │ │ ├── ape_demo.sh │ │ ├── clean.sh │ │ ├── config_demo.sh │ │ ├── example.tex │ │ ├── latex_demo.sh │ │ ├── res_demo.sh │ │ ├── rpe_demo.sh │ │ └── traj_demo.sh │ │ ├── res_smoke_test.py │ │ ├── run_all_demos.sh │ │ ├── test_filters.py │ │ ├── test_lie_algebra.py │ │ ├── test_trajectory.py │ │ ├── traj_smoke_test.py │ │ └── tum_benchmark_tools │ │ ├── README.md │ │ ├── associate.py │ │ ├── evaluate_ate.py │ │ └── evaluate_rpe.py ├── kitti_devkit │ ├── dataset │ │ └── poses │ │ │ ├── 00.txt │ │ │ ├── 01.txt │ │ │ ├── 02.txt │ │ │ ├── 03.txt │ │ │ ├── 04.txt │ │ │ ├── 05.txt │ │ │ ├── 06.txt │ │ │ ├── 07.txt │ │ │ ├── 08.txt │ │ │ ├── 09.txt │ │ │ └── 10.txt │ ├── evaluate_odometry.cpp │ ├── mail.h │ ├── matrix.cpp │ └── matrix.h ├── kitti_odo_eva │ ├── README.md │ ├── evaluation.py │ ├── ground_truth_pose │ │ ├── 00.txt │ │ ├── 01.txt │ │ ├── 02.txt │ │ ├── 03.txt │ │ ├── 04.txt │ │ ├── 05.txt │ │ ├── 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