rosbag ground thruth not aligned with docker results

[geoeo]

Hello,

I am plotting the GT pose from the topic /Robot_7/pose with the docker image. However, the aft_mapped/camera and gt_pose transforms are not aligned. Is there some transform step that is not given to align the two?

[geoeo]

Gt is bottom left, while aft_mapped and camera are on the right. Its a bit faint.

[hyye]

Hi @geoeo, since these two are not in the same coordinate. An alignment is required to visualize this two together.

[geoeo]

Would it be possible to know what this alignment is? It would make comparison between local and global methods possible

[daijiaoshou]

font{ line-height: 1.6; } ul,ol{ padding-left: 20px; list-style-position: inside; } did you know VINS-Fusion, the method to fuse VIO and GPS, maybe we can try to fuse LIO and GPS. daikai [email protected] 签名由 网易邮箱大师 定制 On 12/31/2019 20:25，Marc Haubenstock<[email protected]> wrote： Would it be possible to know what this alignment is? It would make comparison between local and global methods possible —You are receiving this because you are subscribed to this thread.Reply to this email directly, view it on GitHub, or unsubscribe.

[geoeo]

I have only seen the repo. Is there a publication for this method?