编译

catkin_make -j

启动算法

source devel/setup.bash roslaunch radar_graph_slam radar_graph_slam.launch odom_output:=/home/sax/4DRadarSLAM-NTU/odom.txt

保存地图

source devel/setup.bash rosservice call /radar_graph_slam/save_map "{utm: false, resolution: 0.2, destination: '/home/sax/4DRadarSLAM-NTU/map.pcd'}"

输出odometry

source devel/setup.bash rostopic pub -1 /command std_msgs/String "data: 'output_aftmapped'"

轨迹评估命令

APE

evo_ape tum gt_odom-cp.txt cp.txt -vap --plot_mode xyz --save_plot ./ --save_results ape_trans.zip evo_ape tum gt_odom-cp.txt cp.txt -vap --plot_mode xyz -r angle_deg --save_results ape_rot.zip

evo_ape tum gt_odom-garden.txt garden.txt -vap --plot_mode xyz --save_results ape_trans.zip evo_ape tum gt_odom-garden.txt garden.txt -vap --plot_mode xyz -r angle_deg --save_results ape_rot.zip

evo_ape tum gt_odom-loop1.txt loop1.txt -vap --plot_mode xyz --save_results ape_trans.zip evo_ape tum gt_odom-loop1.txt loop1.txt -vap --plot_mode xyz -r angle_deg --save_results ape_rot.zip

evo_ape tum gt_odom-loop2.txt loop2.txt -vap --plot_mode xyz --save_results ape_trans.zip evo_ape tum gt_odom-loop2.txt loop2.txt -vap --plot_mode xyz -r angle_deg --save_results ape_rot.zip

evo_ape tum gt_odom-loop3.txt loop3.txt -vap --plot_mode xyz --save_results ape_trans.zip evo_ape tum gt_odom-loop3.txt loop3.txt -vap --plot_mode xyz -r angle_deg --save_results ape_rot.zip

evo_ape tum gt_odom-nyl.txt nyl.txt -vap --plot_mode xyz --save_results ape_trans.zip evo_ape tum gt_odom-nyl.txt nyl.txt -vap --plot_mode xyz -r angle_deg --save_results ape_rot.zip

RPE

evo_rpe tum gt_odom-cp.txt cp.txt -vap -r point_distance_error_ratio -u m --plot_mode xyz --save_results rpe_trans.zip evo_rpe tum gt_odom-cp.txt cp.txt -vap -r angle_deg -u m --plot_mode xyz --save_results rpe_rot.zip

evo_rpe tum gt_odom-garden.txt garden.txt -vap -r point_distance_error_ratio -u m --plot_mode xyz --save_results rpe_trans.zip evo_rpe tum gt_odom-garden.txt garden.txt -vap -r angle_deg -u m --plot_mode xyz --save_results rpe_rot.zip

evo_rpe tum gt_odom-loop1.txt loop1.txt -vap -r point_distance_error_ratio -u m --plot_mode xyz --save_results rpe_trans.zip evo_rpe tum gt_odom-loop1.txt loop1.txt -vap -r angle_deg -u m --plot_mode xyz --save_results rpe_rot.zip

evo_rpe tum gt_odom-loop2.txt loop2.txt -vap -r point_distance_error_ratio -u m --plot_mode xyz --save_results rpe_trans.zip evo_rpe tum gt_odom-loop2.txt loop2.txt -vap -r angle_deg -u m --plot_mode xyz --save_results rpe_rot.zip

evo_rpe tum gt_odom-loop3.txt loop3.txt -vap -r point_distance_error_ratio -u m --plot_mode xyz --save_results rpe_trans.zip evo_rpe tum gt_odom-loop3.txt loop3.txt -vap -r angle_deg -u m --plot_mode xyz --save_results rpe_rot.zip

evo_rpe tum gt_odom-nyl.txt nyl.txt -vap -r point_distance_error_ratio -u m --plot_mode xyz --save_results rpe_trans.zip evo_rpe tum gt_odom-nyl.txt nyl.txt -vap -r angle_deg -u m --plot_mode xyz --save_results rpe_rot.zip