Closed hungdche closed 1 year ago
This might be due to your use of the quaternion. We use a JPL quaternion which is the rotation from the GLOBAL to the IMU frame. I recommend you try writing the quaternion x,y,z,w to file, and then processing it. When a JPL quaternion is written in this order, and read as a Halmiton quaternion, it flips the rotation direction to IMU to GLOBAL.
On Sun, Jan 22, 2023 at 11:58 PM Henry Che @.***> wrote:
Hi,
I'm trying to run OpenVINS with EuRoC, and it seems that although the xyz and pitch match well, both roll and yaw differ have a constant offset of about 50 degree compared to ground truth. [image: image] https://user-images.githubusercontent.com/90811347/213965631-4cd9fce2-30a2-4211-93fb-f336310d1572.png [image: image] https://user-images.githubusercontent.com/90811347/213960155-2327bee1-b005-4402-8547-82db3455d252.png
The config file that I used is the exact ones https://github.com/rpng/open_vins/tree/master/config/euroc_mav provided by OpenVINS. My code is here https://github.com/hungdche/open_vins/blob/master/ov_msckf/src/run_illixr_msckf.cpp just in case.
Any help for pointer is greatly appreciated. Thanks!
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Thank you for your response! It does in fact match now
Hi,
I'm trying to run OpenVINS with EuRoC, and it seems that although the xyz and pitch match well, both roll and yaw differ have a constant offset of about 50 degree compared to ground truth.
![image](https://user-images.githubusercontent.com/90811347/213960155-2327bee1-b005-4402-8547-82db3455d252.png)
The config file that I used is the exact ones provided by OpenVINS. My code is here just in case.
Any help for pointer is greatly appreciated. Thanks!