Ackermann10

获取groundtruth真实位姿

2

你好，关于真实位姿的问题想请教一下。 我用的FAST-LIO-LC的数据集做的测试。为了能够得到真实的位姿，我订阅了代码中的odometry话题，但是得到的真实位姿的xyz的值和optimize_pose的xyz值相差太多，想请教一下是否订阅的话题出现了错误还是我写的代码的问题？ `void publish_odometry(const ros::Publisher &pubOdomAftMapped) { odomAftMapped.header.frame_id = "camera_init"; odomAftMapped.child_frame_id = "body"; odomAftMapped.header.stamp = ros::Time().fromSec(lidar_end_time); // ros::Time().fromSec(lidar_end_time); set_posestamp(odomAftMapped.pose); pubOdomAftMapped.publish(odomAftMapped); auto P = kf.get_P(); for (int i = 0; i...

Hi, When I run the code,I met this error: traj_gen: /usr/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h:425: Eigen::DenseCoeffsBase::Scalar& Eigen::DenseCoeffsBase::operator()(Eigen::Index) [with Derived = Eigen::Matrix; Eigen::DenseCoeffsBase::Scalar = float; Eigen::Index = long int]: Assertion `index >= 0 && index...