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MichaelGrupp / evo

Python package for the evaluation of odometry and SLAM
https://michaelgrupp.github.io/evo/
GNU General Public License v3.0
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KITTI map same but differnt oientation when plotted #490

Closed col761-22 closed 1 year ago

col761-22 commented 2 years ago

Hi, Thanks for this awesome project. Really helped me a lot.

I had a question, rather a bug that I am not able to solve.

I used groundtruth ktti poses and converted it to tum format. Further, I used cartogrpaher to run SLAM on a sequence 005(2011_09_30 - 0018). I have to calcualte the error between both the poses for my research.

However when I plot both the pose maps, they have different orientation, although the overall structure is the same. Here is the glimpse of the same. without-calib

I am not able to align it, which is required for finding ate/rpe between the poses.

The trajectory txt required to plot this image is as followd: kitti05.txt & kitti_2011_09_30_drive_0018_synced.bag.txt

It woulbe great if someone could throw light on this and help me figure out the correct way to aligb both the trajectories.

eithwa commented 2 years ago 
$ evo_traj tum kitti05.txt --ref  kitti_2011_09_30_drive_0018_synced.bag.txtp  -as --t_offset +1317363879.336294

image https://github.com/MichaelGrupp/evo/wiki/evo_traj#geometric-alignment

col761-22 commented 2 years ago

Thanks a lot. This helped me a lot

col761-22 commented 2 years ago

Hi, I had one more issue.

Currently both the files The trajectory txt required to plot this image is as followd: kitti05.txt & kitti_2011_09_30_drive_0018_synced.bag.txt cannot be used for calcualting ate/rpe because they are in different planes.

How do I convert the kitti_2011_09_30_drive_0018_synced.bag.txt file in the same plane ane then evaluate ape/rpe numbers..

I understand that visulaization is in the same plane. But currently the data in files are in diffrent planes. Request your urgent help on this.

Thanks in advance.

prashkmr commented 2 years ago

Hi I wanted to know that how did you come up with this time t_offset value in the above error.

eithwa commented 2 years ago

Hi I wanted to know that how did you come up with this time t_offset value in the above error.

The time stamp of the first data of kitti05.txt is 0.00000000000000000e+00, and the time stamp of the first data of kitti_2011_09_30_drive_0018_synced.bag.txt is 1317363879.336294. Use --t_offset +1317363879.336294 to align the time stamps on both sides

eithwa commented 2 years ago

Hi, I had one more issue.

Currently both the files The trajectory txt required to plot this image is as followd: kitti05.txt & kitti_2011_09_30_drive_0018_synced.bag.txt cannot be used for calcualting ate/rpe because they are in different planes.

How do I convert the kitti_2011_09_30_drive_0018_synced.bag.txt file in the same plane ane then evaluate ape/rpe numbers..

I understand that visulaization is in the same plane. But currently the data in files are in diffrent planes. Request your urgent help on this.

Thanks in advance.

you can try to convert its xyz axis using python and import pandas