The trajectory cannot align

[MasonMax]

Description: It looks like they can be aligned with rotating , but evo cannot align them.

Command:

 evo_traj tum lio_odom_0.txt --ref chcnav_fix_demo_pose.txt --t_max_diff 1 -p -a

Console output:

--------------------------------------------------------------------------------
name:   lio_odom_0
infos:  7836 poses, 571.058m path length, 790.846s duration
--------------------------------------------------------------------------------
name:   chcnav_fix_demo_pose
infos:  8058 poses, 598.993m path length, 806.800s duration
# remove this line and paste your console output HERE - no screenshots please

Additional files: Please attach all the files needed to reproduce the error. lio_odom_0.txt chcnav_fix_demo_pose.txt

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:

  
  evo version 1.30.0
  # remove this line and paste your config HERE

[MichaelGrupp]

There seems to be something wrong with your time synchronization between the trajectories. You can see which poses are matching in time by enabling pose correspondence markers and zooming in. It looks off

The quite large --t_max_diff 1 that you used also indicates that, but this can't fix your data. If you know the exact offset, you can use --t_offset in evo to correct it. Otherwise the only thing you can do is to check and fix the time sync of your data.