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hmz-15 / Interactive-Scene-Reconstruction

Reconstructing Interactive 3D Scenes for Simulating Robot Autonomy
BSD 3-Clause "New" or "Revised" License
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Question about the ground truth localization #7

Closed canglangzhige closed 2 years ago

canglangzhige commented 2 years ago

In the tutorial "https://github.com/hmz-15/Interactive-Scene-Reconstruction/tree/main/mapping", Step 2, The ground truth pose of the sceneNN dataset is used, but the topic "ground truth pose" does not exit by the command "rosbag info scenenn_225.bag" : image How is the ground truth pose obtained, and how is it input into the entire system?

hmz-15 commented 2 years ago

We read the camera pose from /tf transforms.