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HKUST-Aerial-Robotics / VINS-Mono

A Robust and Versatile Monocular Visual-Inertial State Estimator
GNU General Public License v3.0
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World Frame and Body Frame #127

Open mohit-ludhiyani opened 6 years ago

mohit-ludhiyani commented 6 years ago

Can you please explain how World frame and Body frame are initialized?

About Body frame, what i understood from one of your answers is, that body frame represents position of imu frame. please correct me if i am wrong.

Whereas World frame u mentioned is fixed frame with z axis pointing in gravity direction, could u explain somewhat more on this how x axis and y axis are defined of world frame. Also how World frame is initialized.

Purpose of asking question: i am trying to compare VINS generated pose implemented on our drones with respect to ground truth(Optitrack), for which i need to know about tf frames.

Thanks in advance, Mohit

vonzy commented 6 years ago
  1. Read the code and paper, and you can understand by yourself. It's not easy to descibe here.
  2. You can use python script from tum to evaluate the accuracy, read the code for.more information.