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KumarRobotics / msckf_vio

Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight
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The Groundtruth #100

Closed jingshaojing closed 3 years ago

jingshaojing commented 3 years ago

For fast flight dataset , how can I get the position and velocity of gps? It is workable for using rosbag play? And i have see the matlab script for dataset, it only use 2*N velocity? what is about position?

ke-sun commented 3 years ago

The GPS data are in the rosbag files. The matlab script is to compute the time and yaw offset between GPS and the odometry. Once we have the offset, we could transform either the odometry data or the GPS data for proper comparison.

jingshaojing commented 3 years ago

thanks， I have understand this meaning , I will try

jingshaojing commented 3 years ago

I have a new question,for V1_01_easy.bag，the groundtruth in mav0 has 28713 raws in data.csv, and I save pose data in txt file only has 2893 raws, My question is whether too little Pose data is being saved？ @ @ke-sun

jingshaojing commented 3 years ago

Apologize for my disturbance, can i directly use matlab script with flight dataset, I found .m file is only a function, so I need to read rosbag file and store relative information in .mat file, and write a main function in matlab to use the function you give ? I do not know my understanding is right?

ke-sun commented 3 years ago

There seems to be rosbag support in matlab. https://www.mathworks.com/help/ros/ref/rosbag.html

jingshaojing commented 3 years ago

Thanks @ke-sun