gtsam IMUKITTIExampleGPS data format description

[Ivan Panchenko]

Hello! Nice to meet you and thanks a lot for contibuting such a useful example for gtsam new users. I have successfully run it and now want to make test with different data. As the first step, I tried to make a data of the same format from KITTI raw data. I did that using the kitti raw data but the result seems completely wrong. So, can you please figure out my mistake. GPS posses seem to be OK as I take every 100'th from raw dataset (so update every 1second). Next, I want to create analog of KittiEquivBiasedImu.txt

Can you please explain what should be the data in it. I used Acceleration (in m/s^2) and angular rate (rad/s) w.r.t. car coordinate system (car front, left, top). And this is probably incorrect.

p.s. How did you get such a long log of KITTI data? It is about 5 minutes, there are no such long records in KITTI webpage. It seems like it is possible to merge different raw records into one, is it correct?

[Ivan Panchenko]

These are the examplary files I created.

[Ivan Panchenko]

problem was in pykitti wrapper which didn't sort log files for reading which lead to random order of point.

[程相]

I really hope you can tell me what these two folders mean. I haven't seen them clearly now. Thank you very much