Transformation of relative pose to absolute pose
lucleon opened this issue · comments
In line 94 in test.py, the Rotation Matrix is computed using only one Euler angle:
ang = eulerAnglesToRotationMatrix([0, answer[-1][0], 0])
I'm wondering, why are theta_x and theta_z set to zero?
@ChiWeiHsiao @lucleon Hi , I have same questions.
I have the same problem, and when I evaluate the error of relative pose, the error is very large, but the trajectory fits well. Have you solved it? @fangxu622 @lucleon @ChiWeiHsiao
KITTI is recorded from the trajectory of a car. This movement does not have pitch and roll. The only angle change is yaw.
I have the same problem, and when I evaluate the error of relative pose, the error is very large, but the trajectory fits well. Have you solved it? @fangxu622 @lucleon @ChiWeiHsiao
In my opinion,This is due to in test.py,they measure the loss in absolute pose,which is different from training