Comments (4)
rostopic
requires KITTI format or the TUM format
ROS bag files are also supported when they contain the right message types. evo supports various pose message types from ROS, see: https://github.com/MichaelGrupp/evo/wiki/Formats#bag--bag2---ros1ros2-bagfile
I have also IMU information with 6 and 9 axis
Without knowing your IMU, I would assume that it provides rotational velocity and linear acceleration, and not a pose? (as required by evo)
If in case of 6-axis IMU, how can I convert my data to the KITTI format with 12 elements?
Don't know, what does your data contain? Conversion from non-supported formats is something you would need to figure out yourself.
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@MichaelGrupp Thank you for your reply.
Actually, I got a multiple results, which have a nav_msgs/Odometry, and Posestampd data.
Also, 6-axis IMU gives me linear acceleration, and angular velocity.
9-axis IMU gives me linear acceleration, angular velocity, and orientation as quaternion also.
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IMU messages can't be loaded by evo, only formats that represent poses ( / points). The processing of IMU data is expected to be done by some external algorithm that outputs a pose (SLAM, odometry, ...).
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@MichaelGrupp
Thank you for your advice. I recoreded all my SLAM trajectories and ground truth trajectories with orientation information, then I combine and modify as KITTI dataset format. thank you for your help.
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