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uzh-rpg / uzh_fpv_open

Repo to accompany the UZH FPV dataset
GNU General Public License v3.0
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Ground truth for the indoor dataset #10

Open alessandromarchei opened 3 months ago

alessandromarchei commented 3 months ago

I am working optical flow computation from an event based camera and I also need the roll pitch and yaw angles.

From the ground truth I am able to correctly compute the velocities from the traslation on x,y,z, but the conversion from the quaternions to RPY angles seems nosense, especially on the roll angles.

I tried to convert the quaternions into Euler angles with this simple python function 

def quaternion_to_euler(qx, qy, qz, qw):
        qx, qy, qz, qw = normalize_quaternion(qx, qy, qz, qw)
        r = R.from_quat([qx, qy, qz, qw])
        return r.as_euler('xyz', degrees=True)

and also by trying every of the 6 conventions (xyz, zyx, zxy, yxz, xzy, yzx), but none seems to work.

How can I correctly compute the RPY angles? Any recommendations?

Thanks in advance

gcioffi commented 1 month ago

Hi,

what is exactly the problem with the RPY angles that you obtain?