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uzh-rpg / rpg_trajectory_evaluation

Toolbox for quantitative trajectory evaluation of VO/VIO
MIT License
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Inconsistency between RTE and ATE #11

Open tuandle opened 5 years ago

tuandle commented 5 years ago

@zhangzichao First, thank you for open-source this package. When analyzing my work, I have a highly contradict report between RTE and ATE as in the below figures: aligned_trajectory ate rte Given the 2 trajectories are well aligned, I don't understand why ATE and RTE report contradict result? Thanks for your help!

zhangzichao commented 5 years ago

Hi, I am not sure, but one thing can be that the rotation and position are somehow inconsistent. The alignment is done purely using position, while the relative error is computed using 6 DoF poses. Maybe you can have a look at that first.

safsafy commented 1 year ago

@tuandle I am seeing the same thing, where you able to find were the problem was ?

setareh-soltanieh commented 1 month ago

Hi, any updates on this problem?