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plot trajectory error also when no hand-eye-calib is available

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Christian Forster
2014-04-29 21:42:53 +02:00
parent c0f1ebfcf7
commit cdecc6325f
1 changed files with 4 additions and 1 deletions
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svo_analysis/src/svo_analysis/analyse_trajectory.py
+4 -1
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@@ -32,7 +32,7 @@ def plot_rotation_error(timestamps, rotation_error, results_dir):
fig.tight_layout()
fig.savefig(results_dir+'/orientation_error.pdf')
def analyse_trajectory(results_dir, n_align_frames = 20, use_hand_eye_calib = True):
def analyse_trajectory(results_dir, n_align_frames = 200, use_hand_eye_calib = True):
if not os.path.isfile(os.path.join(results_dir, 'translation_error.txt')):
@@ -91,6 +91,9 @@ def analyse_trajectory(results_dir, n_align_frames = 20, use_hand_eye_calib = Tr
else:
for i in range(np.shape(p_es)[0]):
p_es_aligned[i,:] = scale*rot.dot(p_es[i,:]) + trans
# plot position error (drift)
translation_error = (p_gt-p_es_aligned)
plot_translation_error(t_es, translation_error, results_dir)
# plot trajectory
fig = plt.figure()