These trajectories are from the RTK GPS. Ideally, would need to be transformed to the IMU frame. Additionally, there is no timeoffset taken into account which will cause errors too.

Don't use these to evaluate error, just use theses to visualize!! If you do compare, you should only use the ATE and say that you are comparing agaist a non-perfect groundtruth. Additionally you should filter the poses based on the positionally accuracy (see the last columns in each text file).

If you are looking at these groundtruth files, you might be interested in: