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ethz-asl / maplab

A Modular and Multi-Modal Mapping Framework
https://maplab.asl.ethz.ch
Apache License 2.0
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Rovioli csv format #250

Open armored-guitar opened 4 years ago

armored-guitar commented 4 years ago

Good afternoon. Can you please explain output csv format for rovioli Timestamp [s]", "t_G_M x [m]", "t_G_I M [m]", "t_G_M z [m]", "q_G_M x", "q_G_M y", "q_G_M z", "q_G_M w", "p_M_I x [m]", "t_G_I M [m]", "p_M_I z [m]", "q_M_I x", "q_M_I y", "q_M_I z", "q_M_I w", "has T_G_M"? I haven't find any info or wiki or documentation what does that mean. Why t_G_M x is followed by t_G_M z and so on.

araujokth commented 4 years ago

Hi, the explanation comes in the lines that come afterwards when the csv file is actually being written here https://github.com/ethz-asl/maplab/blob/master/applications/rovioli/src/data-publisher-flow.cc#L134 

              file_logger->writeDataWithDelimiterAndNewLine(
              kDelimiter,
              aslam::time::nanoSecondsToSeconds(vio_update->timestamp_ns),
              latest_T_G_M_.getPosition(), latest_T_G_M_.getEigenQuaternion(),
              T_M_I.getPosition(), T_M_I.getEigenQuaternion(), has_T_G_M);

so you see that timestamp is followed by the latest_T_GM.getPosition() (x, y, z) and then latest_T_GM.getEigenQuaternion() (orientation) and so on