Roll and yaw have a constant offset compared to GroundTruth when running with EuRoC.

[hungdche]

Hi,

I'm trying to run OpenVINS with EuRoC, and it seems that although the xyz and pitch match well, both roll and yaw differ have a constant offset of about 50 degree compared to ground truth.

The config file that I used is the exact ones provided by OpenVINS. My code is here just in case.

Any help for pointer is greatly appreciated. Thanks!

[goldbattle]

This might be due to your use of the quaternion. We use a JPL quaternion which is the rotation from the GLOBAL to the IMU frame. I recommend you try writing the quaternion x,y,z,w to file, and then processing it. When a JPL quaternion is written in this order, and read as a Halmiton quaternion, it flips the rotation direction to IMU to GLOBAL.

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On Sun, Jan 22, 2023 at 11:58 PM Henry Che ***@***.***> wrote: Hi, I'm trying to run OpenVINS with EuRoC, and it seems that although the xyz and pitch match well, both roll and yaw differ have a constant offset of about 50 degree compared to ground truth. [image: image] <https://user-images.githubusercontent.com/90811347/213965631-4cd9fce2-30a2-4211-93fb-f336310d1572.png> [image: image] <https://user-images.githubusercontent.com/90811347/213960155-2327bee1-b005-4402-8547-82db3455d252.png> The config file that I used is the exact ones <https://github.com/rpng/open_vins/tree/master/config/euroc_mav> provided by OpenVINS. My code is here <https://github.com/hungdche/open_vins/blob/master/ov_msckf/src/run_illixr_msckf.cpp> just in case. Any help for pointer is greatly appreciated. Thanks! — Reply to this email directly, view it on GitHub <#303>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AAQ6TYSCVRORCNFX3FLCBLLWTYFXDANCNFSM6AAAAAAUDNJ3NY> . You are receiving this because you are subscribed to this thread.Message ID: ***@***.***>

[hungdche]

Thank you for your response! It does in fact match now