how to compare two bags that one is gt_path and another is recordder path?

[mohaichuan]

Great work!Thank you!It gives me great help. I have a question that if i use PathRecorder to record a bag_path.How to compare the bag i record with the gt_bag?Thank you very much!

[haeyeoni]

The bag should have path topic. The result path obtained from LiDAR SLAM algorithms can be recorded to bagfile using path_recorder package. After recording the resulting path bagfile, the errors can be calculated relative to gt_bag using the compare.py.

[mohaichuan]

Thank you.I understand that，use the command '--no_play' to compare two bags,but I can not find the dataset 2011_09_26_0067,which is 03 dataset in your work.Could you find it and share it with me?Thank you very much!

[mohaichuan]

The sequence traces of 00 ， 04 ，06 and 08 I ran cannot be aligned with the truth trace. it cause its APE is very big,and its track graph cannot be aligned.How I to solve these problem?Thank you very much!

[haeyeoni]

I think 2011_09_26_0067 should be corrected as 2011_09_26_0027. I will fix that ASAP, thank you! You can download the data with the command that is written in the README.
And could you be more specific about your situation? The possible cause would be the ground truth pose. Please be sure you match the gt pose properly. Or, you can check the results by visualizing the trajectories.

[mohaichuan]

Thank you! The details of my problem are as follows.There is a large error in the z-axis of the 02 sequence. There is an extra section of the trajectory of the 08 sequence. This is also the case with the visual display of the trajectory. Will it be a problem in the production of the bag? 00 sequence will shake serously at the beginning of turning, and then drift later, so the SLAM cannot be completed. And the terminal prompts "large velocity, reset IMU preintegration". I attached some pictures. Thank you for checking them.

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------------------ Original ------------------ From:  "Haeyeon ***@***.***>; Send time: Sunday, Jun 26, 2022 6:12 PM ***@***.***>; ***@***.***>; ***@***.***>; Subject:  Re: [haeyeoni/lidar_slam_evaluator] how to compare two bags that one is gt_path and another is recordder path? (Issue #1) I think 2011_09_26_0067 should be corrected as 2011_09_26_0027. I will fix that ASAP, thank you! You can download the data with the command that is written in the README. And could you be more specific about your situation? The possible cause would be the ground truth pose. Please be sure you match the gt pose properly. Or, you can check the results by visualizing the trajectories. — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you authored the thread.Message ID: ***@***.***>