Initial-pose of drone in bagfiles

[CodeineX]

As I saw in the VICON GroundTruth topic, the drone does not start at (0,0,0) but at some other value, how will the camera get this information since it is not being published on any topic. Initial pose will be required if we want pose to be published in world-coordinate frame.

[fpetric]

Does this answer by @fjperezgrau help in this situation?

[fjperezgrau]

Exactly, you are allowed to read the ground truth pose before takeoff in order to transform your estimated pose.

[t-thanh]

I believe @CodeineX asked about the FBM1 result evaluation, @fpetric @fjperezgrau If the competition use the https://github.com/uzh-rpg/rpg_trajectory_evaluation method, then it should not be a problem if your result start at 0,0,0 . And I think it should be the way since the evaluation will use different rosbag, there is no way we will know in advance what the initial-pose is. Of course you can read data before takeoff -> if it is the case may be I have to change my solution.

[t-thanh]

I should read this before, now all my FBM1 results in the submission will not aligned with your evaluation method. I will change my submission and check with the evo evaluation package then.

[t-thanh]

@fjperezgrau : to be sure, you will use evo_ape metrics for absolute pose error evaluation - correct? There is another method metrics from evo for relative pose error evaluation evo_rpe as well.

[fjperezgrau]

Yes, we use the APE metric.

[t-thanh]

Yes, we use the APE metric.

Even in this case, there is no need for transform the result to VICON frame - I explained in my email to you and Petric.

[fjperezgrau]

Hi @t-thanh, sure, but as I explained before, we decided to propose a realistic task, and even provided a helpful code snippet that you can see here. You just need to apply this transformation to the estimated pose.