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MichaelGrupp / evo

Python package for the evaluation of odometry and SLAM
https://michaelgrupp.github.io/evo/
GNU General Public License v3.0
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the stamptime is not the same #437

Closed weiningwei closed 2 years ago

weiningwei commented 2 years ago

I use the follow command to conver the groundtruth data.csv file of euroc dataset to the tum format file data.tum（I rename it to data.txt, beacuse Github can't upload the tum format file ）. evo_traj euroc data.csv --save_as_tum But I found that the stamptime is not the same between the two files. Maybe this has no effect, because the time difference is very small. But I think it should be the same, is it correct for me to understand this way? data.csv data.txt

MichaelGrupp commented 2 years ago

The euroc groundtruth file has nanoseconds, TUM is in seconds. https://github.com/MichaelGrupp/evo/blob/master/evo/tools/file_interface.py#L201

This should be the only difference between the files, and a very small floating point precision error maybe.

Independent of the file format, you should get the same output from those two commands:

evo_traj euroc data.csv -v

evo_traj tum data.txt -v