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ToniRV / Kimera-VIO-Evaluation

Code to evaluate and tune SPARK VIO pipeline.
MIT License
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Add external odometry plotting in backend #58

Closed marcusabate closed 3 years ago

marcusabate commented 3 years ago

Adds plotting for wheel odometry.

Adds a function to generate an absolute trajectory from a relative one; between poses are appended together to create the world-frame trajectory. This is how logged external odometry factors that are added to the backend are converted to an external-odometry trajectory.