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HeYijia / svo_edgelet

A more robust SVO with edgelet feature
GNU General Public License v2.0
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轨迹信息 #11

Closed jixiedaima closed 6 years ago

jixiedaima commented 6 years ago

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？

jixiedaima commented 6 years ago

test I add some code in it, test1 but the result is not good !

HeYijia commented 6 years ago

Your code is wrong. you need to save T_f_w.inverse( ).translation( ), not T_f_w.translation( ) .

jiazhibo commented 6 years ago

If I want to get the quaternion of the pose,should I save : Eigen::Quaterniond q=vo_->lastFrame()->T_fw.rotation_matrix() ?

HeYijia commented 6 years ago

Eigen::Quaterniond qfw (vo->lastFrame()->T_fw.inverse().rotation_matrix() );

jiazhibo commented 6 years ago

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. data This is the comparison of results and groundtruth. Can you tell me how to solve this problem?