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dlaidig / broad

Berlin Robust Orientation Estimation Assessment Dataset (BROAD)
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EULER ANGLES IN BROAD #3

Closed logindiamant closed 1 year ago

logindiamant commented 1 year ago

Dear colleagues, please tell us, how to calculate Euler angles from opt_quat in BROAD datasets? May be, you heave some MATLAB script?

dlaidig commented 1 year ago

I'm not using Matlab but I have seen that you have received some pointers for the conversion of quaternions to Euler angles in https://github.com/marcocaruso/mimu_optical_dataset_caruso_sassari/issues/2 and https://github.com/agnieszkaszczesna/RepoIMU/issues/1.

The BROAD dataset does not make use of Euler angles but stores the reference orientations as quaternions and includes Python code for quaternion-based calculation of the orientation estimation error. Without more details, I cannot provide help about which Euler angles to choose. However, as a general advice, I would be very careful for using Euler angles to compare different orientations. With the wide range of orientations found in the dataset, any of the possible rotation axis sequences will likely be close to gimbal lock from time to time.