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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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evo_traj with geometry_msgs/TransformStamped #657

Closed magixn closed 2 months ago

magixn commented 2 months ago

As said in wiki 'evo only reads the trajectory', the message with type _geometrymsgs/TransformStamped seems to be treated in _evotraj the same as _geometrymsgs/PoseStamped, but they are quite different in real. I think this may cause some misunderstanding.

MichaelGrupp commented 2 months ago

PoseStamped and TransformStamped have different semantics, but both can describe a trajectory in 3D space. So there's no reason why evo should not allow to load trajectory data if it's stored in one of the two formats. In the end, the interpretation is user/use-case specific. Same goes for odometry trajectories.

What would you like to clarify in that regard in the documentation?

magixn commented 2 months ago

I think I may get it. To describe a trajectory, TransformStamped stores transform from G to [X+1], not typically transform from [X] to [X+1]. Is it right?