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tomas789 / kitti2bag

Convert KITTI dataset to ROS bag file the easy way!
MIT License
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The ground truth for visual odometry/SLAM #8

Closed sunmk2006 closed 6 years ago

sunmk2006 commented 7 years ago

hi, I want to compare the trajectory of my algorithm with the ground truth in the kitti odometry data set, i need to project my trajectory into the coordinate system of the left camera after rectification. To verify that the projection is correct or not,replace my trajectory with the output of the GPS/IMU poses in the kitti raw data set,if the conversion is correct, the output should be consistent with the ground truth in the kitti odometry data set. Formula is as follows： T_cam0_to_world = kitti.oxts.T_w_imu.dot(inv(kitti.calib.T_cam0_imu)) But the result is not ideal. Can you point out my mistakes and correct them?

tomas789 commented 6 years ago

Hi, I'm not sure what do you mean with result is not ideal. I'll close this issue right not, because it does not seems to be directly related to kitti2bag itself. Feel free to continue in comments.