Configuration

evo_config allows to change the global settings, or to generate custom configuration files.

Global settings

You can show, change or reset the global settings of evo from the command line using evo_config.

evo_config show

This will print the current settings and show some short explanations of the parameters (unless --brief is specified).

• You can also show only a subset of the parameters: evo_config show plot_mode_default map_tile_provider
• To see which parameters are changed from the defaults, use: evo_config show --diff

evo_config set

• Set a string value: evo_config set plot_mode_default xy
• Set a list value: evo_config set plot_statistics mean std max
• Boolean values
  • Set: evo_config set plot_show_legend false
  • Toggle: evo_config set ros_map_enable_masking

Or all at once:

evo_config set plot_mode_default xy plot_statistics mean std max plot_show_legend false ros_map_enable_masking

evo_config reset

• evo_config reset: resets all settings to the default values.
• evo_config reset plot_figsize tf_cache_debug: resets only the listed parameters.

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Note: like the rest of evo's CLI, evo_config also supports tab completion.

Custom configuration files

Sometimes it is useful to store parameters of experiments in a dedicated file instead of manually typing them as command line arguments every time. Most command line tools of evo can load .json configuration files with the -c or --config argument.

Example:

Let's say you run this command for the relative pose error:

evo_rpe tum groundtruth.txt estimate.txt --pose_relation angle_deg --delta 1 --delta_unit m --verbose --plot

evo_config generate can convert arbitrary command line parameters to a .json file specified by --out:

evo_config generate --pose_relation angle_deg --delta 1 --delta_unit m --verbose --plot --out rpe_config.json

This outputs a file rpe_config.json with the following content:

{
    "delta": 1.0,
    "delta_unit": "m",
    "plot": true,
    "pose_relation": "angle_deg",
    "verbose": true
}

The next time you want to run evo_rpe with these parameters you just need to call:

evo_rpe groundtruth.txt estimate2.txt -c rpe_config.json

Note:

• for technical reasons, you need to use evo_config generate with the "long" options if available - e.g.: --plot instead of -p
• parameters from a configuration file have priority (you can't override them by an equivalent command line option)
• you can also add overrides for global settings to a configuration file