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View Code? Open in Web Editor NEW๐ ๏ธ SLAM evaluation tool (supplement for EVO)
๐ ๏ธ SLAM evaluation tool (supplement for EVO)
@LeeBY68
I'm not sure if I understand correctly. Did you first align the translation part between the estimated poses and the ground truth poses as a whole using the Umeyama method in EVO? When using EVO, the Umeyama method outputs a similarity transformation, and you only used the translation-related part, neglecting the rotation part. Then, you solved the alignment of the rotation part between the estimated poses and the ground truth poses using your own method. Could you please explain how you aligned the rotation part?
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