[evo plot] Plotting package for odometry

[Goal] euroc dataset 의 형식이나 kitti dataset 형식들의 결과를 논문이나 보고를 드릴 때 사용하는 방법

[Github]
- Reference Site: https://github.com/MichaelGrupp/evo

[Reference Site]
- (1) Virtual Env install
  - Reference Site: https://github.com/MichaelGrupp/evo/blob/ 9ec1444a9f26a24261e1c126cd4ee2d7877cc395/doc/install_in_virtualenv.md
- (2) evo format
  - Reference Site: https://github.com/MichaelGrupp/evo/wiki/Formats
- (3) evo plotting setting
  - Reference Site: https://github.com/MichaelGrupp/evo/wiki/Plotting
- (4) plot multiple results
  - Reference Site: https://github.com/MichaelGrupp/evo/issues/137
- (5) change background plot results
  - Reference Site: https://github.com/MichaelGrupp/evo/issues/14

[Error]
- (1) “ValueError: could not convert string to float” & “TUM trajectory files must have 8 entries per row and no trailing delimiter at the end of the rows (space)”
  - A) convert .csv file to .tum file
    # Convert .csv to .tum $ evo_traj euroc ~.csv --save_as_tum

[Plot trajectory]

  # Example of plot trajectory
  $ evo_traj tum Ground_Truth.tum Visual_Inertial_Odometry.tum -p --plot_mode=xy

[Plot Absolute Pose Error (APE)]

  # It must compare two .tum files (In this case, Ground_truth and VIO) 
  $ evo_ape tum Ground_Truth.tum Visual_Inertial_Odometry.tum --plot --plot_mode=xy

[Plot Relative Pose Error (RPE)]

  # It must compare two .tum files (In this case, Ground_truth and VIO) 
  $ evo_rpe tum Ground_Truth.tum Visual_Inertial_Odometry.tum --plot --plot_mode=xy

[Plot multiple results from a metric]

before start, we must select compare result which chosen APE or RPE !!

Make each zip file first

  # For example, Let's assume compare APE
  $ evo_ape tum Ground_truth.tum Case_1.tum --save_results Case1.zip
  $ evo_ape tum Ground_truth.tum Case_2.tum --save_results Case2.zip
  $ evo_ape tum Ground_truth.tum Case_3.tum --save_results Case3.zip
        

Then plot all cases

  # Plot three Case*.zip
  $ evo_res {folder name/*.zip} -p --save_table results/table.csv

[TIPS]
- (Save various extension files)
  - more good resolution extension files like .eps & .pdf
- (Modify plot result)
  - [1] go to .zip file and click “info.json” file
  - [2] revised “title” & “ref_name” & “est_name”
  - [3] Re-compressed folder
  - [4] Repeat evo_res process, then we can see changed plot legend
- (Change plot background)
  - It can change four type for background like “dark, darkgrid, white, whitegrid”
    # Change blackgrid to whitegrid $ evo_config set plot_seaborn_style whitegrid

[Result]
- (1) Plot trajectory
- (2) Plot Absolute Pose Error (APE)
- (3) Plot Relative Pose Error (RPE)
- (4) Plot multiple results from a metric
- (5) Change plot background