Data conversion

[Minsu-Kim1822]

Hi, I wanna convert my rostopic which is consist of x, y, z pose from the LiDAR SLAM algorithm(LIO-SAM, FAST-LIO2 etc.), but EVO requires KITTI format or the TUM format.

I wanna try to use KITTI format, which is consist of 4x4 homongeous matrix, with rotational matrix, and translation matrix T. I have also IMU information with 6 and 9 axis,

If in case of 6-axis IMU, how can I convert my data to the KITTI format with 12 elements?

Or, even if I could with my LiDAR-SLAM result, convert to TUM format is available?

plz. thank you

[MichaelGrupp]

rostopic requires KITTI format or the TUM format

ROS bag files are also supported when they contain the right message types. evo supports various pose message types from ROS, see: https://github.com/MichaelGrupp/evo/wiki/Formats#bag--bag2---ros1ros2-bagfile

I have also IMU information with 6 and 9 axis

Without knowing your IMU, I would assume that it provides rotational velocity and linear acceleration, and not a pose? (as required by evo)

If in case of 6-axis IMU, how can I convert my data to the KITTI format with 12 elements?

Don't know, what does your data contain? Conversion from non-supported formats is something you would need to figure out yourself.

[Minsu-Kim1822]

@MichaelGrupp Thank you for your reply.

Actually, I got a multiple results, which have a nav_msgs/Odometry, and Posestampd data.

Also, 6-axis IMU gives me linear acceleration, and angular velocity. 9-axis IMU gives me linear acceleration, angular velocity, and orientation as quaternion also.

[MichaelGrupp]

IMU messages can't be loaded by evo, only formats that represent poses ( / points). The processing of IMU data is expected to be done by some external algorithm that outputs a pose (SLAM, odometry, ...).

[Minsu-Kim1822]

@MichaelGrupp Thank you for your advice. I recoreded all my SLAM trajectories and ground truth trajectories with orientation information, then I combine and modify as KITTI dataset format. thank you for your help.