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From /kitti/oxts/gps/fix to /tf #56

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flpgrz opened this issue May 27, 2020 · 1 comment
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From /kitti/oxts/gps/fix to /tf #56

flpgrz opened this issue May 27, 2020 · 1 comment

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@flpgrz
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flpgrz commented May 27, 2020

Does anybody know where the world reference system of /tf is centered?
I am trying to convert /kitti/oxts/gps/fix (NavSatFix - lat, long, alt) in the /tf world (x, y, z) reference system.

Thanks.
@valgur
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valgur commented May 28, 2020 •
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The world frame origin is the first GNSS fix position. For details see https://github.com/utiasSTARS/pykitti/blob/master/pykitti/utils.py#L133
https://github.com/tomas789/kitti2bag/blob/master/kitti2bag/kitti2bag.py#L58

@flpgrz flpgrz closed this as completed Jun 9, 2020
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@valgur @flpgrz