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uzh-rpg / rpg_svo

Semi-direct Visual Odometry
GNU General Public License v3.0
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pose data /svo/pose not matching given data - airground dataset #130

Open akathirg opened 8 years ago

akathirg commented 8 years ago

My goal is to verify that SVO is working properly by comparing given camera pose ground truth to that obtained using SVO.

I tried running the airground dataset that was given with SVO (in the install tutorial). It runs fine. I decided to extract the pose information from the bag file using rostopic echo -b aiground.bag -p Rig > file.txt which gives me all the camera pose information in a file. I then tried using rostopic echo svo/pose > experiment.txt while running the sequence using svo as described in the how to. I used the defaults in the test_rig3.launch file.

I want to compare the camera pose data that was obtained using SVO to that found in the airground.bag file. They do not match.

daliskon commented 7 years ago

did you find any solution? I am trying to do the same thing