How to obtain the true and estimated values for evaluation?

[hsiaochao]

Hello, how did you obtain the true and estimated values for evaluation? I have some questions about it: 1.My understanding is that the estimated value is in the following code ''' //Update global TF Tf: Quaternion q; q. SetRPY (m roll, m pitch, m yaw); M_ LastGlobalTf=tf:: Transform (q, tf:: Vector3 (tx, ty, tz)) * odomTf. inverse(); ''' the estimated value is concluding tx, ty, tz, q. Is it like this? 2. The true value of the catec1 sequence is in the topic "/ground_truth/pose" of the bag file, but fixed difference id between the timestamp of the timestamp of "/ground_truth/pose" and the timestamp of "/lidar_pointcloud". What is the specific difference? 3.How to obtain the true value of airsim1 sequence? What topic is it?

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