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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 Results doesn't align #503

Closed Shubham-2302 closed 1 year ago

Shubham-2302 commented 2 years ago

I am using Sc-A-LOAM to generate odometry. This outputs a txt file called optimised poses. When I use evo_traj on the optimised poses vs kitti ground truth for 05 sequence. This is my result. number of poses and ground truth comparison

The ground truth is in xz plane and my results are in xy plane. What is the best way to align the two results and find out the error in the trajectories?

optimized_poses.txt This is in kitti format and thus doesn't have any time stamps and as you can see from the image has less number of total poses.

I am using ROS Melodic, Ubuntu 18.04 I am using minikitti publisher to publish the Kitti data & using aloam_velodyne_HDL_64.launch

Let me know if you need any more information.

Any help is appreciated.

MichaelGrupp commented 2 years ago

You can't align KITTI data if the number of poses is not exactly the same.

If you want to align this shorter part, the only reasonable option that I can see is to add timestamps to the ground truth data (in TUM format, as previously discussed here) and save your own data in the same format with correct timestamps. Then the alignment can be done by matching the timestamps.

Or you just ensure that you write the correct number of poses.