Hi @marek.piirikivi,
What is the data size? Which sample are you using?
Is it possible to provide everything and help us to reproduce the issue on our side?
Hi,
Sorry for late reply as I was busy with other stuff. I ended up implementing my own global estimator and fused it together with results from relative estimator. This approach works really well and I am currently not planning to go any further with your global estimator.
I have another question about relative egomotion: according to documentation, it is unclear whether it is allowed to pass in negative velocity with dwEgomotion_addOdometry. My end goal is to get good relative estimations when vehicle switches between forward and reverse.
Edit: I already got answer with simple test and indeed negative speed is accepted and seen as driving in reverse.
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Thanks for the update!