uzh-rpg/rpg_trajectory_evaluation

Inconsistency between RTE and ATE

Opened this issue · 3 comments

tuandle commented

@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

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.

  • 👍2
safsafy commented

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

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setareh-soltanieh commented

Hi, any updates on this problem?