From /kitti/oxts/gps/fix to /tf

tomas789 / kitti2bag

Convert KITTI dataset to ROS bag file the easy way!

MIT License

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From /kitti/oxts/gps/fix to /tf #56

Closed flpgrz closed 4 years ago

flpgrz commented 4 years ago

Does anybody know where the world reference system of /tf is centered? I am trying to convert /kitti/oxts/gps/fix (NavSatFix - lat, long, alt) in the /tf world (x, y, z) reference system.

Thanks.

valgur commented 4 years ago

The world frame origin is the first GNSS fix position. For details see https://github.com/utiasSTARS/pykitti/blob/master/pykitti/utils.py#L133 https://github.com/tomas789/kitti2bag/blob/master/kitti2bag/kitti2bag.py#L58