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AutonomousFieldRoboticsLab / SVIn

Underwater Navigation with tightly coupled fusion of Visual Inertial Sonar and Depth Information
GNU General Public License v3.0
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What is the header row corresponding to the pseudo ground truth trajectories located in colmap_groundtruth. #26

Closed 1ADZX closed 3 months ago

1ADZX commented 11 months ago

Hello, I would like to know what is the header row corresponding to the pseudo ground truth trajectories located in colmap_groundtruth. I can't apply the data because I don't know what each data means. Take the file bus_outside.txt as an example.

adriennewinter commented 10 months ago

I think it is something like this. T = translation, Q = quaternion

timestamp Tx Ty Tz Qw Qx Qy Qz

1ADZX commented 3 months ago

I saw the maintainer's latest submission of colmap_groundtruth gives the title line: #timestamp px py pz qx qy qz qw. But when I visualize the data in bus_outside.txt through python, the trajectory map I get is as follows 3D_in_TxTyTz

1ADZX commented 3 months ago

The above picture is obviously different from the RVIZ trajectory generated when I roslaunch okvis_ros svin_stereorig_v1.launch, which seems to be rotated 90 degrees counterclockwise. This means that at least the order of px py pz in the title line given by the maintainer is incorrect. So can we be sure that the order of the quaternion qx qy qz qw for rotation is correct?