Hi thanks for you contribution. i am generating my own dataset in which i have the image number and its pose. I then create a bag file with the images and then send to ORB-SLAM. ORB-SLAM generates the keyframe trajectory with timestamps. However i dont understand how to use this tool to compare with groundtruth that doesn't have timestamp. The groundtruth pose file is like below but the last three values show pitch, roll and yaw that are replaced with quaternions. Any help will be greatly appreciated. Many thanks.
Hi thanks for you contribution. i am generating my own dataset in which i have the image number and its pose. I then create a bag file with the images and then send to ORB-SLAM. ORB-SLAM generates the keyframe trajectory with timestamps. However i dont understand how to use this tool to compare with groundtruth that doesn't have timestamp. The groundtruth pose file is like below but the last three values show pitch, roll and yaw that are replaced with quaternions. Any help will be greatly appreciated. Many thanks.