Latex 表格设计

总体展示：

\usepackage{booktabs}
\usepackage{multirow}
\usepackage{bm}
\usepackage[table,xcdraw]{xcolor}

\definecolor{TableDarkGreen}{RGB}{182,215,168}
\definecolor{TableLightGreen}{RGB}{207,234,215}

\begin{table*}[]
\renewcommand{\tabcolsep}{1.2pt}
\caption{Median error of camera pose, and localization accuracy at the $1^\circ1\,cm$ threshold on the $\bm{Simulation}$ dataset. \colorbox{TableDarkGreen}{Dark green} denotes the best result under joint training, while \colorbox{TableLightGreen}{light green} denotes the best result under continual learning.}
\begin{tabular}{@{}l|ccc|ccc|ccc|ccc|ccc|ccc|ccc@{}}
\toprule
\multirow{3}{*}{Scenes} & \multicolumn{21}{c}{Methods}                                                                                         \\
 &
  \multicolumn{3}{c}{Joint} &
  \multicolumn{3}{c}{Fine-tune} &
  \multicolumn{3}{c}{iCaRL\cite{rebuffi2017icarl}} &
  \multicolumn{3}{c}{Buff-CS\cite{wang2021continual}} &
  \multicolumn{3}{c}{GEC\cite{laigradient}} &
  \multicolumn{3}{c}{GDR\cite{qiclass}} &
  \multicolumn{3}{c}{Ours} \\
 &
  $\bm{t}$, cm &
  $\bm{r}$, $^\circ$ &
  Acc &
  $\bm{t}$, cm &
  $\bm{r}$, $^\circ$ &
  Acc &
  $\bm{t}$, cm &
  $\bm{r}$, $^\circ$ &
  Acc &
  $\bm{t}$, cm &
  $\bm{r}$, $^\circ$ &
  Acc &
  $\bm{t}$, cm &
  $\bm{r}$, $^\circ$ &
  Acc &
  $\bm{t}$, cm &
  $\bm{r}$, $^\circ$ &
  Acc &
  $\bm{t}$, cm &
  $\bm{r}$, $^\circ$ &
  Acc \\ \midrule
Bedroom &
  {\begin{tabular}{ccc} & ~{\cellcolor{TableDarkGreen}0.6}~ & \end{tabular}} &
  {\begin{tabular}{ccc} & ~{\cellcolor{TableDarkGreen}0.2}~ & \end{tabular}} &
  {\begin{tabular}{ccc} & ~{\cellcolor{TableDarkGreen}97.3}~ & \end{tabular}} &
  479.9 &
  111.3 &
  0.0 &
  1.1 &
  0.2 &
  40.2 &
  \multicolumn{3}{c|}{-} &
  0.5 &
  {\begin{tabular}{ccc} & ~{\cellcolor{TableLightGreen}0.1}~ & \end{tabular}}&
  91.7 &
  0.7 &
  0.2 &
  91.2 &
  0.6 &
  {\begin{tabular}{ccc} & ~{\cellcolor{TableLightGreen}0.1}~ & \end{tabular}} &
  {\begin{tabular}{ccc} & ~{\cellcolor{TableLightGreen}96.2}~ & \end{tabular}}\\
Kitchen &
  {\begin{tabular}{ccc} & ~{\cellcolor{TableDarkGreen}0.5}~ & \end{tabular}} &
  {\begin{tabular}{ccc} & ~{\cellcolor{TableDarkGreen}0.1}~ & \end{tabular}} &
  {\begin{tabular}{ccc} & ~{\cellcolor{TableDarkGreen}99.8}~ & \end{tabular}} &
  774.6 &
  109.8 &
  0.0 &
  0.7 &
  0.2 &
  68.8 &
  \multicolumn{3}{c|}{-} &
  0.6 &
  {\begin{tabular}{ccc} & ~{\cellcolor{TableLightGreen}-}~ & \end{tabular}} &
  94.7 &
  0.6 &
  {\begin{tabular}{ccc} & ~{\cellcolor{TableLightGreen}-}~ & \end{tabular}} &
  94.7 &
    {\begin{tabular}{ccc} & ~{\cellcolor{TableLightGreen}-}~ & \end{tabular}} &
    {\begin{tabular}{ccc} & ~{\cellcolor{TableLightGreen}-}~ & \end{tabular}} &
    {\begin{tabular}{ccc} & ~{\cellcolor{TableLightGreen}-}~ & \end{tabular}}  \\
Living &
{\begin{tabular}{ccc} & ~{\cellcolor{TableDarkGreen}-}~ & \end{tabular}} &
  {\begin{tabular}{ccc} & ~{\cellcolor{TableDarkGreen}-}~ & \end{tabular}} &
  {\begin{tabular}{ccc} & ~{\cellcolor{TableDarkGreen}-}~ & \end{tabular}} &

  0.3 &
  0.1 &
  100.0 &
  0.4 &
  0.1 &
  99.6 &
  \multicolumn{3}{c|}{-} &
  0.4 &
  {\begin{tabular}{ccc} & ~{\cellcolor{TableLightGreen}-}~ & \end{tabular}} &
  96.3 &
  0.4 &
  {\begin{tabular}{ccc} & ~{\cellcolor{TableLightGreen}-}~ & \end{tabular}} &
  {\begin{tabular}{ccc} & ~{\cellcolor{TableLightGreen}-}~ & \end{tabular}} &
  {\begin{tabular}{ccc} & ~{\cellcolor{TableLightGreen}-}~ & \end{tabular}} &
  {\begin{tabular}{ccc} & ~{\cellcolor{TableLightGreen}-}~ & \end{tabular}} &
  99.6 \\ \midrule
Accuracy $(\uparrow)$ &
  \multicolumn{3}{c|}{{\begin{tabular}{ccc} & ~{\cellcolor{TableDarkGreen}99.9}~ & \end{tabular}}} &
  \multicolumn{3}{c|}{33.3} &
  \multicolumn{3}{c|}{69.5} &
  \multicolumn{3}{c|}{-} &
  \multicolumn{3}{c|}{95.0} &
  \multicolumn{3}{c|}{95.3} &
  \multicolumn{3}{c}{ {\begin{tabular}{ccc} & ~{\cellcolor{TableLightGreen}-}~ & \end{tabular}}} \\ 
  TFR $(\downarrow)$&
  \multicolumn{3}{c|}{-} &
  \multicolumn{3}{c|}{-} &
  \multicolumn{3}{c|}{44.9} &
  \multicolumn{3}{c|}{-} &
  \multicolumn{3}{c|}{5.1} &
  \multicolumn{3}{c|}{-} &
  \multicolumn{3}{c}{ {\begin{tabular}{ccc} & ~{\cellcolor{TableLightGreen}1.6}~ & \end{tabular}}} \\
  \bottomrule
\end{tabular}
\end{table*}