Wrong result of computing ATE and PRE between the eatimation and ground-truth.

ethz-asl / okvis

OKVIS: Open Keyframe-based Visual-Inertial SLAM.

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Wrong result of computing ATE and PRE between the eatimation and ground-truth. #71

Open thzt16 opened 6 years ago

thzt16 commented 6 years ago

Hi, I want to output the estimated trajectory, and compute ATE&PRE. I have tried to modify the code and got the estimation data (p,q,v,bw,ba) successfully. But when I use the output data and the ground-truth to compute ATE and PRE, I found that coordinates are not aligned. How to deal with it ? Thanks !

cheesekuntly commented 4 years ago

hello，I want to estimate trajectory too，can you tell me how to modify the code？