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]

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did you know VINS-Fusion, the method to fuse VIO and GPS, maybe we can try to fuse LIO and GPS.

    
        
    


 

    
                
        
            
                
                        
                            
                        
                        
                            daikai
                        
                
                    
                        
                                [email protected]
                        
                    
            
        
    
    


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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

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[geoeo]

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