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pvangoor / eqvio

EqVIO: An Equivariant Filter for Visual Inertial Odometry
GNU General Public License v3.0
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Check results #6

Closed bromotdi closed 4 months ago

bromotdi commented 4 months ago

I can run the code with:

./build/eqvio_opt ./data/MH_03_medium.bag configs/EQVIO_config_EuRoC_stationary.yaml --display --mode ros

However, is there a way to compare the results with ground truth from bag?

pvangoor commented 4 months ago

Hi @bromotdi, I recommend the toolbox https://github.com/uzh-rpg/rpg_trajectory_evaluation You may need to reformat some of the EqVIO output a little, but it should not be too difficult.