EVO tool is not aligning the origin of two trajectories ground truth trajectory and slam trajectory.

[sagardhatrak]

Description:

Command: evo_ape tum rtabmap_gt.txt rtabmap_slam.txt -va --plot --plot_mode xy --align_origin

replace this line with the command(s) you used

**Console output:**
``
![image](https://user-images.githubusercontent.com/19165811/236217042-0a51f2bc-dca3-4bde-ac7c-35a5d2a163b2.png)
`

# remove this line and paste your console output HERE - no screenshots please

Additional files: Please attach all the files needed to reproduce the error.

Please give also the following information:

• evo version number shown by evo pkg --version:
• Python version shown by evo pkg --pyversion:
• operating system and version (e.g. Ubuntu 16.04 or Windows 10):
• did you change the source code? (yes / no):
• output of evo_config show --brief --no_color:

remove this line and paste your config HERE

[sagardhatrak]

[MichaelGrupp]

You are passing also the flag to do a full alignment with -va, which is short for -v -a, which is itself the short form of --verbose --align. Just use -v if you don't want the full alignment.

[sagardhatrak]

Thank you for guidance. The following command has aligned the origin: evo_ape tum rtabmap_gt.txt rtabmap_slam.txt --plot --plot_mode xy --align_origin

But, not able to apply full alignment. Does --align_origin includes full alignment? How can we do full alignment with --align_origin? --align_origin and --align both are not working simultaneously (not aligning origin).

[MichaelGrupp]

They can't be done simultaneously. Either the origin is aligned or there is a global alignment, they are two different things.

[sagardhatrak]

Ok, Thanks.