Configuration

evo_config is a small tool that can be used to change the global settings or to generate custom configuration files.

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)

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Global settings

You can show, change or reset the global settings of evo that are stored in the package's settings.json file.

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evo_config show

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

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evo_config set

Use this to set single or multiple parameters. Unless -c / --config is specified, the package settings will be used.

Dummy example:

If your configuration looks like this:

{
    "logfile_enabled": false,
    "plot_export_format": "pdf",
    "plot_figsize": [
        8,
        8
    ]
}

running:

evo_config set plot_export_format png logfile_enabled true plot_figsize 10 9

will set it to:

{
    "logfile_enabled": true,
    "plot_export_format": "png",
    "plot_figsize": [
        10,
        9
    ]
}

Boolean parameters can also be toggled by leaving "true" or "false" out.

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evo_config reset

This will reset the package settings to the default values.