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tomas789 / kitti2bag

Convert KITTI dataset to ROS bag file the easy way!
MIT License
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What does /tf contain? #12

Closed zanazakaryaie closed 6 years ago

zanazakaryaie commented 6 years ago

Hello

I'm not sure what does /tf message contains. Does it containt the pose of the left camera obtained with GPS/IMU fusion?

Can I use it as ground truth?

tomas789 commented 6 years ago

Hi! /tf contains relative transformations to all sensors you can find in dataset (including left camera). Besides that, it also contains position of car in the world. Thus you can use it as ground truth.

zanazakaryaie commented 6 years ago

I have compared the tf with ground truth provided in odometry section of KITTI. They are different!

vkee commented 6 years ago

Yes I have found that too, which is strange as it is based from the GPS/INS data (the source for ground truth). I tried contacting the authors but did not hear back.