The "t_camera_car" is not consistent

[brz-hub]

Question

Is the "Pos" and "Q" (Pose) in the generated file "airsim_rec.txt" the ground truth values for the vehicle or the camera? Regardless of whose ground truth it is, I expect the result of calculating "t_camera_car" to be a constant value. However, the calculation result is not consistent.

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I added the following code in the function "getRecordFileLine" in "PawnSimApi.cpp": /////////////// auto Cam_Pose = getCamera("0")->getCameraInfo().pose; ss << Cam_Pose.position.x() << "\t" << Cam_Pose.position.y() << "\t" << Cam_Pose.position.z(); ///////////////// This code is used to record the pose of the "center_front" camera. Later, I read the poses of the car and the camera to calculate "t_camera_car". I plotted the t_camera_car using Python, and the result was a circular trajectory.

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[brz-hub]

Sorry, it was my mistake. The airsim_recv.txt records the transformations T_world_camera and T_world_car, but I mistakenly thought it was T_camera_world and T_car_world. the code is No problem.