rosbag -> RTK groundtruth

HKUST-Aerial-Robotics / GVINS

Tightly coupled GNSS-Visual-Inertial system for locally smooth and globally consistent state estimation in complex environment.

GNU General Public License v3.0

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rosbag -> RTK groundtruth #55

Open ZoYooJy opened 6 months ago

ZoYooJy commented 6 months ago

by using dataset/toolkit/bag2rtk_solution.cpp, we can convert xxx.rosbag to xxx_rtk_solution.txt(global_timestamp, ecef_px, ecef_py, ecef_pz, enu_vx, enu_vy, enu_vz,solution_fix_type, is_fix_valid, is_differential_correction_applied, carrier_phase_range_solution_status), but how can i convert it to xxx.tum, and using in evo? thx very much!!!