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rpng / open_vins

An open source platform for visual-inertial navigation research.
https://docs.openvins.com
GNU General Public License v3.0
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Frame of reference velocity #250

Closed stevedanomodolor closed 2 years ago

stevedanomodolor commented 2 years ago

I have a doubt, in what frame is the velocity data in the loop_pose is in?, is it the inertial frame(global) or the body frame?

goldbattle commented 2 years ago

Imu frame. It should match the ROS spec.

On Thu, May 12, 2022, 12:54 AM stevedanomodolor @.***> wrote:

I have a doubt, in what frame is the velocity data in the loop_pose is in?, is it the inertial frame(global) or the body frame?

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stevedanomodolor commented 2 years ago

FLU?

goldbattle commented 2 years ago

I am not sure what "FLU" means.

This doesn't actually publish the velocity: https://github.com/rpng/open_vins/blob/master/ov_msckf/src/ros/ROS1Visualizer.cpp#L769-L780

You should use the /ov_msckf/odomimu if you want to get the velocity. The loop_* topics are for use with the secondary thread.

stevedanomodolor commented 2 years ago

Thank you