How to use groundtruth to generate RMSE.

[Abhitya]

Hi,
I am trying to use the groundtruth provided in the bag files to generate RMSE, but the ground truth seems to have a misalignment with the camera frame. Could you please share some details on how you used the groundtruth to generate the RMSE, published in the white paper : https://www.researchgate.net/publication/333125503_RGBD-Inertial_Trajectory_Estimation_and_Mapping_for_Ground_Robots

[dzqiu]

@Abhitya I have test it. You can use evo to evaluate them. You can save the groundtruth as TUM format, and then use command evo_ape tum groundtrue.txt estimate.txt -vap.

[504115681]

@Abhitya I have test it. You can use evo to evaluate them. You can save the groundtruth as TUM format, and then use command evo_ape tum groundtrue.txt estimate.txt -vap.

Hello, is the groundtruth the pose of the camera or the pose of the body coordinate system? I look forward to your reply!Thanks!

[calmelo]

evo_ape tum groundtrue.txt estimate.txt -vap

This paper uses this tool(https://github.com/uzh-rpg/rpg_trajectory_evaluation) to evaluate.

[calmelo]

estimate.txt

How do you get the estimate.txt?