Confusion about Odom data

Question

Confusion about Odom data

FelicxFoster opened this issue 4 years ago · 5 comments

Hi, @ZacharyTaylor. Thanks for your open source
I got a problem about the Odom message we need to load in the function loadTformFromROSBAG().
Does translation field in geometry_msgs/TransformStamped message in ROS mean the GPS position? like the following picture

but in the example.bag you provided, the translation is too samll, such as

I use my dataset to calibrate and I got the bad result, and different results on one dataset. Is there something wrong with my data?
Thanks.

Answer 1 · 2021-04-13T09:25:33.000Z

Hi I think the TransformStamped should be in "meter", which is 0 at the beginning. Not GPS. You could minus the offset (at the beginning) from you GPS data.

Answer 2 · 2021-04-15T06:08:10.000Z

@LarryDong Thanks for your reply. I will try. Could you share your dataset? I want to compare the difference of my dataset, which has the bad result for calibration.

Answer 3 · 2021-04-15T06:25:23.000Z

@FelicxFoster
Check the data from the author here. #5 (comment)

Answer 4 · 2021-04-15T06:48:50.000Z

@LarryDong yeah, I have tried the author's data. However, I don't think is a good example, like author said its just he holding the lidar and randomly waving it around. So I hope you could share your data if you have, thanks.

Answer 5 · 2021-04-15T07:14:10.000Z

@FelicxFoster
Sorry that I do not have a record.