Questions about Umeyama Alignment and Evaluation Results about evo

[MichaelGrupp]

evo_ape by default shows only the synchronized poses that were used for the metrics calculation. But you can show the "full" reference with --plot_full_ref, i.e. including poses that were not used by the metric.

evo_traj shows the full reference because it can align multiple trajectories.

[MichaelGrupp]

Umeyama alignment rigidly transforms (optionally with scale) your trajectory so that it fits the best way possible to the other one. This doesn't mean that the RPY angles are the same afterwards.

[wangjinhoon]

Thank you for your quick reply.

Does synchronization mean that Roll, Pitch, and Yaw are the same on the same timestamp when aligned?

I want to compare the Vive tracker with the VO. Is there anything I should care about when creating test data to increase the number of synchronized poses? Currently, my data is very different in the amount of data and does not take into account roll, pitch, or yaw.

I'm not sure if the values obtained with a small number of synchronized poses are correct.

thank

[wangjinhoon]

I increased the data volume and resolved the issue. Thank you