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SJTU-ViSYS / M2DGR

M2DGR： a Multi-modal and Multi-scenario Dataset for Ground Robots(RA-L2021 & ICRA2022)
MIT License
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vins-mono在hall05的测试结果远远不如论文所示 #71

Closed szu-jawenos closed 1 year ago

1217132204 commented 1 year ago

您好，请问您是用evo评测的吗？hall05的GT文件中的旋转部分（四元数）都是0？怎么用？谢谢

szu-jawenos commented 1 year ago

因为是无人车上的应用，对旋转上的要求不是很高，使用evo也是平移对齐

sjtuyinjie commented 1 year ago

测试结果与电脑配置也是关系很大的

sjtuyinjie commented 1 year ago

旋转不纳入误差，只计算平移误差