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ntnu-arl / rovtio

Visual-Thermal Inertial Odometry
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Question about available frames in ROSBAG of Dataset #7

Closed ghost closed 1 year ago

ghost commented 1 year ago

Hello,

I have a question because I am confused while using data set sync.

  1. Is the topic "/aft_mapped_to_init_CORRECTED" pose set the reference frame to 'world' or "/aft_mapped_to_init_CORRECTED" ?
  2. Can I use the topic "TF" as a true value to compare against an estimate?

please answer about my question.

hflemmen commented 1 year ago

Hi,

  1. Yes, it is the pose referenced to world.
  2. I am not quite sure what you mean. You can compare the pose you estimate to the pose from /aft_mapped_to_init_CORRECTED, which may be defined from the transforms in /tf.