The output trajectory's format is the same as TUM trajectory format under EDN coordinate, with 8 columns, each representing
timestamp tx ty tz qx qy qz qw
evo (Link to pypi) and matplotlib are required for this evaluation script.
To run evaluation, use evaluate.py file in this directory with following CLI arguments:
python ./evaluate.py --estimate <airdos_output_path> --gt <tartanair_shibuya_path> [--real_perspective]?
The --real_perspective flag is optional. Adding this flag will plot the resulted trajectory while enforcing the 1:1 perspective ratio.