Closed jixiedaima closed 6 years ago
I add some code in it,
but the result is not good !
Your code is wrong. you need to save T_f_w.inverse( ).translation( ), not T_f_w.translation( ) .
If I want to get the quaternion of the pose,should I save : Eigen::Quaterniond q=vo_->lastFrame()->T_fw.rotation_matrix() ?
Eigen::Quaterniond qfw (vo->lastFrame()->T_fw.inverse().rotation_matrix() );
Thank you for your reply Howerer how to output timestamp still puzzles me When I output
# vo_->lastFrame()->timestamp_
The result is 35.81 ,but the time is 181 seconds.
This is the comparison of results and groundtruth.
Can you tell me how to solve this problem?
可以获取它的轨迹信息吗,想与真实轨迹信息做一下对比实验?