the accuracy in tango phone (lenovo phab2)

[fangxu622]

hi,I'm using rtab-map app on the lenovo tango phone `,and i export the pose from the database ,and I draw the trajectory using python script, and his accuracy doesn't look as good as the python script drawed

how accuracy of the rtap-map app in tango? thanks

and the python script

import numpy as np
import matplotlib.pyplot as plt
import mpl_toolkits.mplot3d

f = open(r"C:\Users\Dell\Documents\RTAB-Map\poses-camera.txt")
x = []
y = []
z = []
for line in f:
    if line[0] == '#':
        continue
    data = line.split()
    x.append( float(data[1] ) )
    y.append( float(data[2] ) )
    z.append( float(data[3] ) )
ax = plt.subplot( 111, projection='3d')
ax.plot(x,y,z)
plt.show()

this is my database

long.zip

[matlabbe]

Not sure to see the problem. CAn you show the axis name on the plots? It looks like you are showing xy plane on the first and xz plane on the second. The trajectory looks exactly the same than the one shown in rtabmap viewer. The only thing is that on your python script, the plot doesn't use same scale on both axes, which then make the trajectory looking stretched on one dimension.

The accuracy of RTAB-Map Tango is dependent on the accuracy of Google Tango pose estimation approach. Try searching about "Google Tango visual inertial odometry error".