Comments (4)
nmerrill67
commented on July 24, 2024
2
I just used the transformation provided by each dataset's yaml files to transform to the same world coordinates as the ground truth.
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nmerrill67
commented on July 24, 2024
I am currently trying to do the same. If you download the .yaml files from the dataset's website, it will contain transforms from the ground truth tracking frame to the body frame. I believe ORB_SLAM tracks wrt the left camera frame, so you will have to transform to that too. It appears they use Matlab here.
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M1234Thomas
commented on July 24, 2024
Anyone able to plot the trajectories as shown above? I tried to use the TUM tools but the trajectory does not look like what the mapDrawer draws.
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gs14iitbbs
commented on July 24, 2024
Please let me know if anyone exactly got, how to do the above said comparison.
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Related Issues (20)
- When I was running orb_slam2 with intel realsense d435i the generated track data was very little
- Camera position add on keyframe
- When I tried to run Stereo Node in ROS Example, some trouble occured. plz come in.
- running command build_ros.sh error HOT 1
- Why use float Type to store Descriptor Distances
- Failed to open settings file...
- ROS noetic ./build_ros.sh problems HOT 7
- I got an error when I tried to compile orb_slam2 with ubuntu22.
- I am getting this error while building the ORB_SLAM2 file please help.. I m running this on NVIDIA JETSON ORIN NANO
- Build failed on Ubuntu 22.04 and ros2 humble
- Stereo baseline of Da Vinci Xi surgical robot
- camera postion please ?
- Why not do `mpCurrentKeyFrame->AddMapPoint(pMP, i)` after `pMP->AddObservation(mpCurrentKeyFrame, i)` during LocalMapping::ProcessNewKeyframe ?
- KeyFrameTrajectory.txt?
- Fix cmake to work with new version of opencv please? I have 4.5.4 HOT 1
- Program does not go forward after initialization while doing rgb-d example.
- compilation issue -- ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/openmp_mutex.h:30:10: fatal error: ../../config.h: No such file or HOT 2
- Running Stereo Node Error
- /usr/bin/ld: Cannot find -lEigen3::Eigen
- When using a undistored image as input image
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