how to obtain trajectory from span-cpt

[kevin2431]

Thanks for sharing the dataset. I want to evaluate my lidar odometry algorithm on this dataset but do not familiar with the GNSS sensor. I wonder if there is a library that can help me convert novatel_msgs/INSPVAX to 6DoF trajectory like the KITTI dataset.

[weisongwen]

Hi @kevin2431 , Thanks for your interest. You may need some functions to convert the latitude, longitude and altitude to the Eeast, North, Up frames. I have a piece of code that you may need as follows:

https://github.com/weisongwen/GraphGNSSLib/blob/main/global_fusion/include/gnss_tools.h#L220

Best, Weisong,

[Saixiaoma]

Hi @kevin2431 , Thanks for your interest. You may need some functions to convert the latitude, longitude and altitude to the Eeast, North, Up frames. I have a piece of code that you may need as follows:

https://github.com/weisongwen/GraphGNSSLib/blob/main/global_fusion/include/gnss_tools.h#L220

Best, Weisong,

Hi, how to obtain the rotation(yaw, pitch, roll) from the span-cpt?

[weisongwen]

you can get the orientation from the topic /novatel_data/inspvax which is the rostopic from the span-cpt.

[weisongwen]

Feel free to re-open if needed.