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RPM-Robotics-Lab / file_player_mulran

File Player for MulRan Dataset
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global_pose.csv to local_pose #6

Closed cristianrubioa closed 3 years ago

cristianrubioa commented 3 years ago

Hi, how could i convert global poses to local map i.e something like this. Screen Shot 2021-02-18 at 2 06 28 AM

regarding this https://github.com/irapkaist/file_player_mulran/issues/5 I get a map of (latitude, longitude), but how could I get a result like the previous one from this map? Screen Shot 2021-02-18 at 2 10 20 AM

VRER1997 commented 3 years ago

I have the same problem. Do you have a solution, please?

0ontheroad commented 3 years ago

I have the same problem. Do you have a solution, please?

I haven't encountered your problem yet. How did you get the first picture above? I reported the following error with evo（global_pose.csv）: [ERROR] EuRoC MAV state ground truth must have 17 entries per row and no trailing delimiter at the end of the rows (comma)

gisbi-kim commented 3 years ago

@cristianrubioa, @VRER1997

see here please, https://github.com/gisbi-kim/mulran-evaluation

tldr: the global coord GT (in earth coord) is converted into ouster-oriented (starting point is identity w.r.t the ouster) so you can compare some lidar odometry (e.g., https://github.com/gisbi-kim/SC-LIO-SAM#applications) whose start is always identity with respect to the converted GT trajectory.

cristianrubioa commented 3 years ago

I have the same problem. Do you have a solution, please?

I haven't encountered your problem yet. How did you get the first picture above? I reported the following error with evo（global_pose.csv）: [ERROR] EuRoC MAV state ground truth must have 17 entries per row and no trailing delimiter at the end of the rows (comma)

Hi @0ontheroad The image above was obtained by extracting the trajectory of the A-LOAM method. I extracted the trajectory in TUM format. In this repo you can review about it. (The explanation is intuitive, but you can ask me there in any case).

cristianrubioa commented 3 years ago

@gisbi-kim Thanks ! I have recently tested it and everything is fine.