-
Notifications
You must be signed in to change notification settings - Fork 258
Format
koide3 edited this page Oct 17, 2019
·
4 revisions
Odometry directory contains a sequence of odometry frames (pairs of point cloud and odometry data). There should be a corresponding odometry data for each point cloud. Each filename represents the timestamp of a corresponding point cloud. (i.e., "%d_%d.pcd" % sec % nsec)
odometry_directory
├── 1570513628_110666000.pcd
├── 1570513628_110666000.odom
├── 1570513628_161063000.pcd
├── 1570513628_161063000.odom
├── 1570513628_211459000.pcd
├── 1570513628_211459000.odom
...
Odometry data file contains a matrix which describes the sensor pose at a frame.
-0.228915 -0.971698 -0.0583246 41.5334
0.973279 -0.229575 0.00479223 13.3015
-0.0180465 -0.0556691 0.998286 7.29953
0 0 0 1
graph_directory
├── 000000
│ ├── cloud.pcd
│ └── data
├── 000001
│ ├── cloud.pcd
│ └── data
├── 000002
...
├── graph.g2o
└── graph.g2o.kernels
VERTEX_SE3:QUAT 0 0 0 0 0 0 0 1
FIX 0
VERTEX_SE3:QUAT 1 2.00822 0.0116456 0.00558243 0.00167023 -0.00158634 0.00325778 0.999992
VERTEX_SE3:QUAT 2 4.03316 0.0179549 0.0342677 0.00148645 -0.00159074 0.00448917 0.999988
VERTEX_SE3:QUAT 3 6.05854 0.0343354 0.0408672 0.000215033 -0.00238403 0.00275989 0.999993
...
2 0 1 Cauchy 0.01
2 1 2 Cauchy 0.01
2 2 3 Cauchy 0.01
2 3 4 Cauchy 0.01
...
- "%d %d %d %s %f" % num_vertices % vertex1_id % vertex2_id % kernel_type % kernel_delta
The point cloud file corresponding to a keyframe. So far, only the PCD format is supported.
stamp 1570513265 296298000
estimate
-0.210581 -0.975015 -0.0707132 133.496
0.976609 -0.213038 0.0291261 -55.6173
-0.043463 -0.0629258 0.99707 5.30258
0 0 0 1
odom
-0.191028 -0.975412 -0.10991 135.776
0.980692 -0.194429 0.0210012 -53.1594
-0.0418546 -0.103776 0.99372 13.978
0 0 0 1
accum_distance -1
id 506
- stamp: timestamp of the corresponding odometry frame
- estimate: the keyframe pose estimated by graph optimization
- odom: the keyframe pose estimated by odometry (may have drift)
- accum_distance: trajectory distance between the very beginning frame and the current frame (used for only back compatibility)
- id: the ID of the corresponding pose node in graph.g2o