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hengli / camodocal

CamOdoCal: Automatic Intrinsic and Extrinsic Calibration of a Rig with Multiple Generic Cameras and Odometry

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Quantization in poses using GPS / INS data

MohrMa2 opened this issue · comments

commented

When I plot the output from data/poses.txt, columns 11-13 I see a "quantization" effect for latitude and longitude.
matlab

The effect for longitude is smaller but can be seen from the data:
poses.txt

The original drive does not have this effect:
gps

Does this come from using float for Lat and Long?
Will it have an influence on the final calculation?