search

utiasASRL / pyboreas

Devkit for the Boreas autonomous driving dataset.
BSD 3-Clause "New" or "Revised" License
90 stars 9 forks source link

align estimated and groundtruth path before plotting #12

Closed cheneyuwu closed 2 years ago

dyoon823 commented 2 years ago

Thanks Yuchen for finding this problem.

Looks like we're now aligning to the fixed reference frame of the odometry estimate. I think a minor inconvenience is now the reference frame of the plot won't be consistent between different user submissions. Should we change it so that we align it to a fixed reference frame of the groundtruth instead?

We can also get rid of the large utm positions by plotting in the frame of the first groundtruth pose.

Thoughts?

cheneyuwu commented 2 years ago

yeah good point, align it to our gound truth frame may be better as we can keep consistency across submissions. User can always generate plots themselves in their chosen frame, if they have a reason to do so (one reason could be to keep consistent with their other plots?)