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Viky397 / TorWICDataset

Releasing a novel dataset taken in a Clearpath Robotics warehouse.
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Can you give me an explanation of trajectory's ground truth struture. #5

Closed doublepoints closed 1 year ago

doublepoints commented 1 year ago

Thank you for sharing this dataset. Currently, I am trying to use the dataset to be runed on ORB-SLAM. The ground truth structure seems similar to the TUM's format. However, when I use evo to visualize the ground trutn trajectory, the plots seems strange as below. image

So, would you please explanaition meaning of each column in ground truth files.

Thank you very much.

Viky397 commented 1 year ago

Hello, the provided ground truth trajectories contain poses of the Ouster 3D LiDAR. Thus, they should be visualized in the XY plane, not in the XZ plane. Note that ORB-SLAM outputs the camera poses, thus, for evaluation, you will need to either transform the ORB-SLAM results into the LiDAR frame using the provided camera extrinsics, or vice-versa. Hope this helps!