From 9ca06bd06bad8e84e0d5a49f660dcfd876a79643 Mon Sep 17 00:00:00 2001 From: Michael Grupp Date: Thu, 1 Feb 2018 18:53:43 +0100 Subject: [PATCH] Add ground truth documentation. (#853) See [RFC 10](https://github.com/googlecartographer/rfcs/blob/master/text/0010-document-groundtruth-features.md) [Rendered version](https://github.com/magazino/cartographer/blob/doc-groundtruth/docs/source/evaluation.rst) --- docs/source/autogenerate_groundtruth.png | Bin 0 -> 15912 bytes docs/source/evaluation.rst | 109 +++++++++++++++++++++++ docs/source/index.rst | 1 + 3 files changed, 110 insertions(+) create mode 100644 docs/source/autogenerate_groundtruth.png create mode 100644 docs/source/evaluation.rst diff --git a/docs/source/autogenerate_groundtruth.png b/docs/source/autogenerate_groundtruth.png new file mode 100644 index 0000000000000000000000000000000000000000..191fbd7803dd914adf3aeabc63e4d1aa346b73ea GIT binary patch literal 15912 zcmaL8c|4Tu`!_yPsoba(w-{Q67F)89HIgQw5|XWwLCn~OvC|@V$;gytEFnuth+)QH zXt`^`*h7pZi80n}W9N5X>ht}6p5N>BJo87(%z2&XaUT2eK91|*MKfc8T?cl-U@!sH zxignxFkTD{#slB69ek5+9(x!DI|xIaIejG{b)q*oHPte0YGuDcM26kg-ZNsKdC>0L z{TvA2lS1_ywtw<4Zi~km-}|vUYUkOsJrYJ)C$Eh@-kz3Mi?vu=t!`?|+~V@Llk7it zaeRB~>N`dTj#b3Rh&uFXybIuUxsbe@$X;!+OlyySU2WC=I%sq@jQ-sEAP2W$HGg|? zZIr6e$OB0FzkVVb5qTcyVCkHA$Em;I!qB>Rnl9);Vrw^p$$dZ&fW8Sz&i0|-Z3wQ* zblM938}WPy-&M$(i3>7f38T3;P>HCDlY~K+NP-x&`jp$PTR&fE5FB06;j*0V%9Swc3jB*e%!M9ZAVuxHRgO*3&4VnEaB+A4fc0cqm(t(J0$?&e~V^Yp{ z%ey(Ig}QSDrotVOYEM!^umKw@xvNWmZIdv9LyMU|m&c02FB1{$l&)arI2t9?l>2VE zQz+DHYNSH-={A;&LZyo3z9p$yUgZ_9oW14Z7-Wov zhN4VPz{&j5_Es-nX_ddbi*-mt{@L;0U%!5#(A@JVDHSqHS_c{Z!KH^;eH*x{EHs)Invy}ga4PA3z_$(zQQ6%Di?R#F_{39gF(GC5wF!$BU`@f`WGNz&H zM))?;LUhA#WqmY22ZUWmcapkn5%h!UO;TMW?mflmhFT}yP`%e89$CDhH5KxST4Z}C z52Kfj{lV11WO*D5+C#;-_^P&PD^hvIMS10Qc7@66?dQg_aH^0M((5RbJJws~Go+NY z7V4;X^kD63uU-k;Eyd2R`%A7icN{=hmeDoqd(%^<0 z`R0L%riowC$;Eei_BSl|WD0nSuhtcaI;v<=Y!$1I#ZWP`jx5DU!XB`pzCO{+^}~%r zFUw9;x7@J{JO93;pPFOoD0@Fy@aDDU5!JGl-gPD1W9T;B2*A$coNZ{Xh;k)XXf2>w*~Tl|a8q~Et{ugU_Jrug@Cu(p^B3TyyvgO? zk!oapkXG(>gfDX#2}W zDGND~L{gV0eX5h7Kd=Rykn}Kn=C4nk;f-igR(4dwI9fT_99WiP_}aYrE*;9X_(FXeq_KekrqPjm5pr3~ z>?{L=bLg$C*t(;hgr)HWW>-3Z{`AE4aLinN2%f7bc zpg{k2kA-5@n`qnBoT5wnoNsp>0}nRG9oT>SDWACqE1_?BxzkLNKYZ+yXwEbRLmDlK z;VxjFg9owhBT31a!j*5Mai#w2eZmxpmG_!( zrTV7_!dJudqlj0+p6yK;RC-Jc+otaN%?&-8AO>XFv+sFb% zPpc~Mu)aCTJk!cAcw^Kzcb^I`EyXYaA|W6MXBD?=U_Ok6@~-R3WQ zt@y?k|KV!*h;|l+4uiw@fOWkt>AhbK4VmLZs`UtU)!A8Iec5OBYg=-c zpBZlJIPBbMJGd<(0}=o7_!kkoSC-C!QnnLAT~53-1_%qH_X+u3le#P8(%=hE6<;aa zBSdD3XAPwDRv~bhYeH>dTQNgQ*?dAIb4uwZw*tE?#AKx z<#4u%razUW-SYl*_jP;IUxV9VDi0l>ZAM)4>XkYiyRuI+=W6r|*N-7W_rEObQXI;) zS+tHxCwIi77wq%h?EP5VYip`J8F5cjeR&&cm`2)^CR?x~dCTyt9FtaA;yj1XlP0(J zT|O~~T{AiU-N;flUF>sZzw`KWaoCR9snR7>AX%Zj5nSP8LJ0cTj0d}$99ysll|rWl z=(k39Py6wFcWb1TO|6?PNwr1#>H}lt^X__yU_VA`C z?5+O#a|%c<3>0Y4ruJ*Jo_{ZYsl8{6J+Hi&dvijU(z0HyQ_#(@G6!*c)g8th4?{61 zV`ID{aC6_r0(>LMcT!iq65AG==KHac7QHc=+@7Dmjk$S`kK}|UDQX5@PwUcpLVaTj zx@vvam)#T1`(PK0bORmRDcdd5>Rb;F2JUTJ7B7wNaAg0a)Dyl2l$DO zx`_i9E14(z6t&prv7=+$`@WMW65r$1crwxuy|yo1Wt$deA=Ls-a_TC1_-C_s*@r^a zBHeHhveH?5P9$g$I#*WY1~nX{PKdyI-AJ}qNMxFXVGbGD zS}hdkG|EGnMpCy9b9kt$(RAD?#peY29f&wdT_T=+lhH4ZJ%yXYEZ`l^T5Eyk=_W@D z@;>o^%~Tx{Ot!p}5D*a1F=~B&{zve|)|tqC5Ig+8aUQOPk|xG+KY-06L%Fbo*a#=I&AL5(;UnIqOsXgQ=|1)OwnTzt>d}TE?^_J9Xt*evRE;*u|{j z)*njj)D+K_g!WJmx)1Q^X_c`BaR`)I;#_czg#=OtR-oGD1`%eyR%o8%<<7Eqm5cVM z3sCfnQcPTZ=0rolE*uaOvytP7IjF^?@GQTJWd2M zXpYG4b->>&$vV~fLOy!s+lfS%jXEvdPh%T8@LfSG-zxHdDFFLJ=#1>g9?5jt(i~#$ zV-Y(Y{$gfq(a73<(W`QodV&!JSCv@#@MeKO?Wec=YBH?3n24|$kS?z|zHir4K2v6n zYds``M3?@A`ZO_Qp;dB8Eao896UxT^M&{B^krO-Ro{lf(q``(i_hg<~XJB9alQMV5 zR)N(r`XR|UI`R&z1dVQYiq>w!)`AVd$7|R9uy;6k%i*<)}by-n-f*;g++^@ zAUa18cIx}4j^)ZsvpZHYtVFOt7-Ior@`*iTGJ*;`5zluUwdA2GHJ9H`#J(80veD#X zQR?h1Wm{zbd?M91%iVG91Mo@J*dB&eY_^lE@rHH(lf{Z`>CC|`Z%>xhAATt>dCjuC zSnkx902_s!87}R1=c~xv|Lmd&cCl0A_hhF=zZjtrxvHZG-Vxn4h3GdgyCTKw58op! zH1+=LMg)>cM9Xnmzg#tAs5Gr-b z$vt~`{XH+yVINSqS>=4^xOtU)FDIK@#*Y^e*5S0D4tW8!j$fAcEAZ$oban&6AX(DG#U;i?ofB6ZS|El=7qx5v3VED45t0 zPT%dr;*9C#AgQ)jKzu$GkoZ8=5(je9oR15|Lz6q;7P9-IKRKhhwo|5$;6OW0s{1;K z*fbgJq6*r|eDkqC1sUfT6=mBY>9;k11O2y~8ax10pT+2aQUiRzfDW>Gp&6cUoxT@n zMIKGRdO&>XH+=tQ=8Ma zsskIjN=z_8UPU=9`~}=cP79+0_|b0+nctQAG=py;Z2d>)!-&PBO=|?EsLfg`_ z{kqlV*Z$SzU-`!L2=NKDD^3dIwwkPdaGnD8%S@LGU{zF;&#tUg8K~lok<&8H=1+e6 z(eyhE*)%GhIQbV`D#9?iLayXFX%|(&R;K*An3!U{G!Ks6?X(U`lXaYwBl)kA{DorF z33HjzOV7fFOH73JdyI8tZ!E9pZ{SD%ww-Vv>yU?!O|3W-jXSxYY1K=%8QqV~qk8yw zjx08ZIIG8%T0W(|v1U7Wt_@;pOTGl%=BGv%R{T0-9k^z-(Gb0W?>hB<=~(4>3_cEo zRd$c?kNmDuQ)a z2zOhClCjDF(svKj#>B^jg-?yN^vY#D;ojB%91aw7`!?HpZgI@x$8rgCU!nRor7Jvo zaM6;e5I5(K+PIF6BZamyC!fq=Pb!Hs%SdeAL^we0Z{rM?8k=r`;a`3fNcCH1&^XHKvl?M6vN;Jj_) zSZ=2$rLJ)1fK(X{6-0ALX`k+}Rp@HalY*VXQW&e&y8d>pH@2}r5skY}S^0)YJE@|A zI}6I*$AgRei4HChnzM#hI|d*f@%Xuhx`ExX0esmiYtxAzEjN}b^faYQpr% z_Gt!%O4$~WhK)t|7pqbiu8`smn}Rmq=$X3eLu*_eR-{%?)+9SwBIx_H$0%D4VwOl}wFqqYvtci0O?vYrgmk4SR;mD9Hqir^N%tic z__MilIkVh`^G7EioOhXAi#O{X189>G;H|`g14zTxH|B3WO63a8eykrsZO}D~!mh6C zQUKP{oxk!eWL;cX;JMGp-zoA_XtSOfu{CX-r8iJ+@csaxn8I#S2(TJWHHp<(Px@Y5 zI-4iv+0jQofN#tZwf7tN*>rXiqgXo=z=J!48kWv}8s#M*C@5L*@JO?wIypR__VM=2 z@xb~W>|d)6!oiKz7&QJ0_k|I0{j_lKSA~Z_JJHFMHSIH%9^0G&Lvp~xn97U*ZTRrVba1=$VshDTA?ISN2F8>TzBYYSu z4EuDa`A$Pd!Am2vEEl%PJ+{SwfqQkQ{n{hmHe80ujV#{gd_>xA#`MOk)KZN^!LD#_ zcdJr*_AFwpw6R>TO&*?9*`ym>3)SNeQ4?{Bh4w4VW^cceV~-l=Yx=zJ}zKsW2Su8BEoZJr@B0-++Kc(xrX$ zvzJe|ZV*)_=oazpohbbI<$tn!$~qlZN;%bM>2ycT0SCr8;!h7$e}P3+SRi;P){tS{ zRJd+O2=$nS0I5KehZd-CI8x^N>D!h3@Nby0XU=g+CoCdaf9dg=r26*bqCPK$vU`dT z{n*;vOY!UvOC`~Jn1uewO7i=)hXX`Pu^yI0Dg%u zylb*!le-dcC!ke>xL0(!S>6&0>PU$!ba-Qef2@2o6xBh{LdAB3nBR4*1Np^p+_U@; z$Ek$5yUo)u{*F7nY6(XEv4sjf!x{@~fwk*u8OHl}MdqNn#PjOoAlh9Q+17m;wUBI6 z%TzPEH0MI5)yqA4VFCPS&UKa)$UrClb}D)`9=d!XjldR?PV1ZuxV=yuBRDsmJHLh0 zC2PolshCFjLG*`Klz62us`NTc$K9O5#hZ`JEUoTA`zMg-mxM)a!z)XgJaP|DBoeWz zX$X{+%HZq^-ECFRwEVDfHL)0g88(6H^J)XncQ1G=1|+KZvE&b!JF}tp zpgTbJ@2{&q?p}BZ87u8<#53R3%BQtwUn%>TAtYy#2FL|btFf-MYlU5-D z5@tLKLz3_>Loel`?NV6HkBWE?9@&BiJR%9$Un*CKNXu zdfjDL3Qs)<&iDS;yQM9b?{eFCfHO_RXEtSyknkmTX^<*IJa z$u$ByMxgFTE9f&QH;hXt+d88~O@b=3!=GgzdvyEh1a5IqDn0L9uw82}+6shl0dEOC z*{_RCk9g5eMYON$&g7!@M4$fRp!wsVUm#Q*EATFL+bCfDsbD0<%l(IhOSt$c_rl=! zA~yl<>J6%wf4x^zL0jiGnm0b@PPif`{CvfGCRUy7N$P6yTO9h*ri?( z$jx!5EQWI}lvlDzYd~Y!544BrRymc{F}}Vd0YRi|xa0WIo)@5;fsZ@!zXVwC-^lIP z`?lbqOWMP&%ge5Zc>%tR{^~Ui<;q58wYjLceL)OlJ!nVc{aE>AmX^c{>&c$vK*eth(saw#73omB zRx{+I4pG&^f@b0tX105MD z*B87CHp=3KxZ%FzoV}*FaR(KUkbVCC{rfaoEVf^%Dsa%zR0OMz?GDIjFB%H@12v3} z9d-*GN%AU>w5tnU)TQ*81BlxJZ8cZzQj<2N^GM&=)sPBGSGsh-K*tZwhIKVujEbqK zG-~E3upS5Dqd!AYZ9T@rimItY%2>2s(fH{~`&NPEZzuz9O=vin8(N zk6QH|dmYxa4xk0VhVo4|?0e(oZm|#m86Yw>TRku>)s4S2=+m{KD`(w)Jo`*d>G~Ak zCf)>kC}G1Oj`bJI$^cZy*;D9JWlA}`Q`>{_KB5OyX}Mf_!e1FO8d4~yw}N&5(V44lby&@zo0UqEv! z#VTBfnw^r0idFNimwG8sug;M16KZlSAp6CUlFXRw4F!&IOyAbyp>xT&uX+KuGNy8y zl@^eJ_(SKHFN_341iD|s-*t|2bsy*$7QWQg{~!UXasTTp z{4z==+?oSh^>rrwoEeRL-e#Sgil=qB0^5(p#h<6jqlo+a7G~5V4es1K zUU8L(0M*J*pW3vk-f_i;7w{qDS>$R1-U7=mU)H?r&ImOA_*Idej`jRh*n*%H1~Ob> zOKt-*V8@QybtbZyCFAzeI>d7)Tu204*OY6s*+m3s`JAvd-DPIMkgq* z^Pu!28F1Q9Gxg-10UJGxHMyFJ@!%qI@|XthiSEP5)g)K@K>!3>*}z6;vF z;%KYa64Bu|06&{Y%gGsS6_`u=(r%+yWVf-_k3BLI5EDxN=!mxKWl=yolynW7y8q+H zk4Ga3Jg$#qaIzr5;gn{3@qcs9f8E>9HD&h@)ff?iUK3@Vx(!T+O4E)74>=cAE$6z>*FHPFHsfE%s!hgLvGBdGY#!OeIdN2ggssv-zKG)hp zyh?7KpWXB6PBttFwWNN4L$Tk=vRP{r_` z(Z$_X80rN7SVu!ZInw}j%2T(bzmjpTE_g$};wVmABb5~TaYby+19C5<%#`;f=Tum4 z0Om4MVp&{M(6G9-HkjKYf6q4_Ya2d!y2z`ZIy3esF4SpjA9D+ot&v2UW2mN=6>t}l zPN0Z-^A!VmB>UaKT{s-TsQ@FeA{Bd$5fyCruduq$U2bGfs*}YV#z#Tmk4Mx>-6!y; zIe8q!M^ews#98^X5E$;>_r+GBaGY8NCasBiv*_)*w{Cj+LT|DD$uj#GXP4AeB>TA+ zxcb;v*`6>?Dywq*@zXX1PRWv5d7e|3^^#wa?_{Ib4IVlhnh|g_reZ+8QJn4gHhpJ2 zog(BtWXL`Nf<{N`!BqkPpl4?)@*TZ1y1U9pUh}X0RQ78u*dY!-^@ieQqF6Edp%f|V zh@Y2zzC*k(^_gA6)hZXycjXb!+Xz_DRUM;m{ndvK55tL~tOK^Kt}TVE{{!-Y*L6Hr zPhV~~3A#O!6hS+os5SU=4pcu^?Fk816`1yy5^CDFzQti*d`v*HTer`?l~DQ6wNm14 zSL)ZM5mDGl0J_lYKy38eql5MG`sG@~5;1Cd0PPD(v-{b>^bZ(gXyXHTRXCxCaOj!dHHQl9=s>tnNLvA;W0-&PniwkuI_@Q18Mic^;%F0ICjyplXwpd0Gp7gyL6y z?2%QFUL^}sC`(ZDL#PF(Jw3=NXnm{+l_*hGt~RjsnzPSydClA2o8J|!e-&?gX+FXA zzsK1{!5-jyvNImbI`TA#W1fC36;y<2 zbe5aw<6#p|;+NFzsS}@g2Db!RDOX}Zt(BMEe?@o(fzq%Si^}6rbk0x(^vUt?G@knw z{#{Ao&iGdWvr}5DdA@{?yCT%w(bNXu^We{V8y*XHod#>Qyj-^!)OD{0m-tTd;9W1+ zetf_?mkS*4mkPgV_G}+2{kdtW`k+ew*_mO+L z_3nYOCX7z$nUX1E-wBF0Q*ZeEO=C^BGjU_D znncDzNLa6IVgr@+S!p9lu>#Wz((bux^C=;?&`EI{)8rO-iS~xWa4uoWW|OdxN{qy8 z?9wT+C60x3YdHgk$^DtUJV7lX70~iX;uW+ThOJEY z4A{nfX$Uk7F$NafcCh=sGkIY__82NAH@o4<@e;+5$?nGbJ@swlTVeXuVcNjbW)-BWi)xxuDnC8^3mq*8`1G zF=&1KBqx`%Qgy19*)5ZXkdo%<3|(O2Myw)mk^ijizL~q}wFRw+ zR2>Li+PUXwNfx^4t1ya~Dv6YlPyn+(hd2zhKLdn#sVD-U>-}u8LrNR4(oYw9)lg@x zw>F^B>cO+OjYk45_HUM;%}Ow3h;q92hLr|;T>-aSUvat;&R;9!=#$DydPW@56re52@HF-#|`6{Dp=yWn$>+N#M09+g}Ac$=WG*b%p* zy=pN2_Iw})L-4>i_<@DkR9_QFUkSx`dKw&BtR(-Zd3OT$_)EfO>+gOiW~B{y$`M_9 zvPzcn+~|K)eSAX#XcNAtT45oi24q1;q|E3FU+9^GhH9wp0lJbGsLWuvbO)eOVnKoH z_TL3#)-rr2n>G&=SI1~yl<&s&En4R#UeJ?7s@<|MrOM~9wqGv{(sVl;K-b-P(EHVy zXdEfP_eB>qt{WRtpR$T&^))LUPC3y_@dnQ22Xqff`g4^da>MDqig*jhsEq?^5(inYclvUY zQw{4;(YWEh+Nx(+%>5Ye#X;gb45c{2};Zg81KxtJdah91vQS}?pP zr8a-$%a~ZjircG|0)NRphUeXq#7{)u|96#l_xm6|}=L`YpCiZ}W|mNO@bN?F6&>Za=*#$A9Rg;B}| zH`h(4MDQc?G=!I&{_s}>)7F4-uTL48A|vVi1bOhG|6X|wtPK3Bx#0NW0q?D7fNUT! zB4Aq?U`L*kJ?6l3>ilL8T{zWOsNArqr2u%F5^2KVJm?)OfuwQNK+ZRq|o1bV3j=6l4u< z@qszHFg&;)>h0S6zO=uYSL0fx6A96Lg_scB8?yr4287z}p1Qgq2t>qgvJyQN4@N8e z(BHfwCZVyRz_gesL$L5HRp1@&_eR)4-^S2-a8pCREw@gC353sM9@^lp5m@nvvwxNl z_~Ec8s%Y+2Rg^;fdB%MLAHARzQyFE_&-3;0Z&!616;z&l5F~gYvE)GvRlS&KfwD*_ z-f92QiD#r;aUs6{R z{@2IXAbJ4wUD^|ig|z7HCSgKgqRQV&co3wcz(2iu^ujf#6C(}=jR3B}vm3DgGyd?S)*%EOP6&3UUsahnYco>IO|-B4|EEYB-qj{&!WivoEt*Jm++#+E72J6*F`;nNdW$DzlRr zM=F>h4ip1!>DIJa*}kz1^V9~lSNFZ&%xH3yp>=BFgMdCXCLn5eDemlp19mW;tHCUP zGvdI;XzEI?@8sj=JFqmfR-YnwZ%2?|UyI?EwK($z8F!hQCevnlC$9K2YpgVNaWH)< zH2YI^W^n)lb)yXjg;}G*!X?9m10<^?4CiAO?=?0PWbni+rbn@<#+|oa7rZ zb+*>KQK&m~@lNK^XYg4eeLf{JlXo9Ql^ljnL22dtssOv)+{c;m{4hwJKqHdE`Da8y{rC@XWzaQ=zRyct-jX^64l>-SoO-yEH*?N=K)5&QQh`wiNC!=#L54# zidfhFqrq0jMi4IgJ=GUTec{1}86d75zm*+^du)*T_6nFc@(F2Xg7GThgPeieEmpt{ z{?{oPS?5ko{%dd)Xx@og?|y)tUHUKDM~(rYxL>xLyASjXGMx;jpyDfNb{f+4KMn?l zli2vqH~Gon9Pq=w)7Ag|3qXiFgCEX-7Sidd^Tb<`oo*~(Zm@w(o0f_oD1%?jh&WO9wOE}AS8Pvso8cl zm{+rQ-w5V6+cUCI%OvY^&;YyFcNj=({nH<5{mDt;rmbkRDZ^vyd+n8N_y6~8)U>rj zh@^=kL?d4`pbui#FU27C=*|r4A1_Z}D_&A2%R}rqNnWWMqCvsnpv0eBO+)iY`!O{N zpvW_1-0uV88ts7~(*O0-d>OJyT{`VQ!RWgH*o6z`2PCB39ETe2GJq8wl>4*O{@V(g zkYl^$2)$ja z{ZY8ilVmai{sz$!{NOj!OX`_c-o^(bPW(C65)n_IWb6lo`2(i)rMLrw``=wHZ|~(y z0r_?fNrgF~ZU2v-&YnFhVzNxauWo?U>re_}h_1dv4HDVaKSCM%ifEIwH8fe|>rd*+ zg>)?Xcdmp>yICBN3~{|}h4hDnbV63!Y*MCJ( z>zP=m#5pqXMW2AsDCdB&IsGxV{{-4j;+zgZP$2Seq89>Z-2)-_WAxiuR3v1}maqO@ za2N<|6|xXWVE>`qT|h`E9pPp!U99Vh2Cv2J>^gbsl+Uy5(0KK&k^mQv`1Oaq)=x|C z@jq$t0B;D8s46p?CiXjvf#J#k?gtex{E;78o0T$GP}e3K@;7DnC%I^zU$s~--zwJd zy+-Vy8y+I=Poi1j0J^)t{XGX|(8`kad9N=5|KtBUWr32L9LSnJ-| zdk&j{MC>No3DNDk9rbxY4VLPQ?J+e?%5Um>ayrxHz`E+wyMVaM@DqZ-E$=#nk zm}ggXeHNOn;3@3{&CY4B%uGIrz~maKS|$bLe7%{M5@WF9&6Rc7ZBZAr zS~VABp#(wN7*6T_5JM189yrJDF~yFqF2|=JH|jF)@Bi}??wk82erj#$0XNn#B2AeC@Af!)8{|E-&0#Z3L zc&WmPIqtr`Gj7u~L?b3o4?Kv>xXue>r)Kw-F(@V#$~e0nil%KwMBRyo7+y3*4QB_d z5Q-EZzIRsuc7o|4g~w(}Dzh#tD;Dkm1D}&d0}p6mgNR)yXEWY2I$-$y6^Va5aO>Oa z`>;s@yVPL678kHB7(+`i8}oFoTwMs;#GYNP*{g4HvHS*dp9h$F{gVX#!zIpXE3c%f z^Hq~WSGa=)jBN*PkM&#>+9nSBI)LvU?X7V}$AUM2Cde2T<*D@AhZNqLe_o7y1@nbp zWOk`9f*WVtu^D%RTHdtG!82p+THTJVv(P@QV?Ey`z&^}ZE!Ao@vuJeU1A=hD$Ch=N z!3(c33?SpA2^5M8X2#ST#_uE_o-_m-xF>a45x9K2_eR=!z5sXJ)?FRCqKxRZwV_Km)~t=D!73RD;A`-BlgmFF|GRv65SfoJ4F{9$fRqgUrSkdh zfG@5kn_yyWC(fxl9Z}24bo#jJU8)yhW;Boh5!7rz>^s59Nc_2RzLnpA5lI6xo>u@h z&9%pRN*)4XbRQ%PsuH;Ywd>D8hz2+=*&4v&adYq@_hl_;;X|-65?Xk!mH&i2<@SL8 z#a7_5BT0ZSdW1ocLGZ&4WO~&@)a*EjBDOV*uc-1p3(*Fs$sRCE^BJ(G0(3L+S>RR? z+xhrn6X)WSdCz~|RHxzrFJj?$*Kk6)p_l%|O|3(%%K-84{^PzwY9Tf$b(R04oN`CKi@Jbf-qQl)hr7 zm%Ad6!Iy(5(T-F(nj(;E=3w33AmbJCU;FhHUwF9-K|jB(t0f8reEM`6W&MDVp8}Kx zcEPg9YbD1Q>p7IZ0A~9C60yghsLU(sSA+v)ztzp1V5MJT->MyhrZ_U4#?$~leh$zT zu?%J{yInlXn=9(dQ`Y@fuaq~#UFLTApi!`Is99fjlM{tM8V~R0d{Z~2=luCNNE{Y zEPai-1@>ec(cvJ++F<~^jYxe!kX1oB7o8JNoGS+}06hU~Gm1-6sz;7R?RsPK3|=G! z%Qy>Kc`02BYxHYGT}fo&MW#p9aM`bgw`*ptVDNp5{!90-m@E?&t*S6s#K*tDaEKyD zR&`rl3^e{T@~s%x+)bC|eNnI<5wP;fOi(|->_AO|%L^t#f*Fibum5ZjCJ~i2% zRto`^VRUku5;Q?737Vj&RuTX%;f(2erpLiYFJg#bP)l@^k$>kEqo_4vkK$1|63 zg`_lT4#!vLLQV@O4%Y=egi9qQ>~5S6v=a_yf(eiQlVl~+@zc@F@sGs5{m|U5I51{s zzyf&=b6{ZLDU>Zx1AB&UPg^aOf&L-%1}2RB1D`g!-~G})_(?KR#>_D!J(~(fe; # (directory where Cartographer's binaries are located) + ./cartographer_autogenerate_ground_truth -pose_graph_filename optimized.pbstream -output_filename relations.pbstream -min_covered_distance 100 -outlier_threshold_meters 0.15 -outlier_threshold_radians 0.02 + +Then, a non-optimized trajectory ``test.pbstream`` can be evaluated against the generated relations with: + +.. code-block:: + + ./cartographer_compute_relations_metrics -relations_filename relations.pbstream -pose_graph_filename test.pbstream + +This will produce output in this form: + +.. code-block:: + + Abs translational error 0.01944 +/- 0.01819 m + Sqr translational error 0.00071 +/- 0.00189 m^2 + Abs rotational error 0.11197 +/- 0.12432 deg + Sqr rotational error 0.02799 +/- 0.07604 deg^2 + + +---- + + +References +========== + +.. [1] Andreas Geiger, Philip Lenz and Raquel Urtasun. + *Are we ready for Autonomous Driving? The KITTI Vision Benchmark Suite*. + CVPR, 2012. +.. [2] Jürgen Sturm, Nikolas Engelhard, Felix Endres, Wolfram Burgard and Daniel Cremers. + *A Benchmark for the Evaluation of RGB-D SLAM Systems*. + IROS, 2012. +.. [3] Rainer Kümmerle, Bastian Steder, Christian Dornhege, Michael Ruhnke, Giorgio Grisetti, Cyrill Stachniss and Alexander Kleiner. + *On measuring the accuracy of SLAM algorithms.* + Autonomous Robots 27(4), pp.387-407, 2009. diff --git a/docs/source/index.rst b/docs/source/index.rst index ce3a34b..56d7458 100644 --- a/docs/source/index.rst +++ b/docs/source/index.rst @@ -21,6 +21,7 @@ Cartographer :hidden: configuration + evaluation terminology `Cartographer`_ is a system that provides real-time simultaneous localization