Questions Regarding the Contents of Reference Bags

[Emmett Wise]

Hi all,

For the various reference bags in tagslam_test/tests, are the odometry and transform topics ground truth values? If so, how are they determined?

Thanks!

Emmett

[Bernd Pfrommer]

There is no ground truth for any of the tagslam_test bags. The odometry generally comes from a VIO system that runs on the same images (+IMU) as tagslam itself. I think VIO is exclusively from this package: https://github.com/KumarRobotics/msckf_vio