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rpng / open_vins

An open source platform for visual-inertial navigation research.
https://docs.openvins.com
GNU General Public License v3.0
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The align mode of ov-eval #248

Closed successkaisadadi closed 2 years ago

successkaisadadi commented 2 years ago

May I ask what kinds of alignment modes are applicable to each case, and which one should be used if you want to evaluate the angle? posyaw, posyawsingle, se3, se3single, sim3, and none.

goldbattle commented 2 years ago

This paper has background on evaluation methods: https://rpg.ifi.uzh.ch/docs/IROS18_Zhang.pdf

In general it is based on the sensors / method used. If you are using a vision only monocular camera system then you would do sim3, for a stereo system you would do se3, and for a visual-inertial system you should use posyaw.