Jumps in ground truth of orientation estimate

mbrossar / denoise-imu-gyro

Convolutional Neural Networks for Denoising Gyroscopes of Low-Cost IMUs

MIT License

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Jumps in ground truth of orientation estimate #15

Closed PabloRauhCorro closed 8 months ago

PabloRauhCorro commented 8 months ago

Thank you for your interesting work. I tested your repo on Euroc (with lowered epochs) and I am quite confused about the roll angle in the gt. Where do these jumps come from? I downloaded Euroc from the official website. The roll angle of the MH_04 sequence differs significantly from the figure that is shown in the README.

roll_gt

PabloRauhCorro commented 8 months ago

Nevermind, the roll angle is of course cyclic, from -180 to 180 degs. I didn't realize that what I saw as "jumps" in the figure is just movement in the vicinity of a roll angle of 180.