A question about ground truth

[duanxz0127]

Hi, I output my SLAM-estimated attitude and the position in "magellan_proflex500_driver" separately, and the two trajectories seem to differ by a rotation around the z-axis. How can I solve this?
By the way, how can I quantify the difference between the two trajectories and thus evaluate the accuracy of my trajectory?

[duanxz0127]

[syllinlin]

Hi, may I ask you a question？When I subscribed to the ground truth from the topic /magellan_proflex500_driver/marker_array, I found that both x, y, z, and orientation were zero. Why is this?

[jorgeffonte]

Hi, I output my SLAM-estimated attitude and the position in "magellan_proflex500_driver" separately, and the two trajectories seem to differ by a rotation around the z-axis. How can I solve this? By the way, how can I quantify the difference between the two trajectories and thus evaluate the accuracy of my trajectory?

Did you mange to get correct rotation?

[jorgeffonte]

Hi, may I ask you a question？When I subscribed to the ground truth from the topic /magellan_proflex500_driver/marker_array, I found that both x, y, z, and orientation were zero. Why is this?

The nmea_sentence message does not provide heading information, so orientations are not obtained. Therefore, rotation evaluation metrics cannot be obtained either.