Reference frame for VICON
ghoshsuman opened this issue · comments
Hi. In which reference frame are the VICON poses provided in the stereo VIO dataset? Can you provide the transformation between that and the other sensors please?
Hi~the VICON poses are for evaluation of the odometry, it should be the body frame (common used). while the transformation between the body frame (imu) and the camera frame should be already available in the documments of the dataset.
please read https://github.com/arclab-hku/Event_based_VO-VIO-SLAM/blob/main/Results_for_comparison.md carefully, and use the https://github.com/MichaelGrupp/evo or other package for the evaluation of odometry and SLAM.
thank you