Question about dataset frame convention

[onurbagoren]

Hello,

Thank you very much for open sourcing everything related to the project, its greatly helpful and really appreciated! I had a few questions about the ground truth trajectories that were released with the dataset, and particularly about the frame convention. I have questions about each dataset released and also it's relation to the ones evaluated in SVin2, and their data availability:

Questions on the Frame Convention

Cave Dataset

Provided Figure

Here is the figure from the paper associated with the dataset (Fig. 5):

Provided Data

When I visualize the trajectory by plotting it, this is what it looks like:

Question

On the GT trajectory, the X-Z plane trajectory seems to correspond to a rotated X-Y plane on the paper figure. Is it possible to get clarity on what the frame convention is? Additionally, the scale seems to be different between the two figures.

Bus Dataset

Provided Figure

Similarly, here is the figure for the reference trajectory on the bus dataset:

Provided Data

Here is the trajectory plotted from the provided GT trajectory from this repo:

Question

It similarly seems like the X-Z trajectory from the provided GT trajectory corresponds to the X-Y trajectory from the figure in the paper. Additionally, it seems like there's an additional portion in the provided GT file (shown in red). The reason I bring up the "extra" portion is to ask whether the provided rosbags have poses that correspond to the provided figure, or the provided ground truth file.

AquaLOC Cemetary

Provided Figure

Here is the figure from the paper:

Provided Data

and this is the one plotted from the provided dataset

Question

I'm not entirely sure as to which plane (X-Y or X-Z) from the provided ground truth trajectory corresponds to the figure provided in the paper. Could I get some help on the clarification of this?

Question about SVin2

I've also noticed that the datasets used in SVin2 look different than the provided GT files:

Is there any availability for the GT/Colmap files that were released in the SVin2 paper?

Thank you very much for your help!

[mzh0110]

I also encountered the same problems.Also, can you successfully run SVIn2 on the CEMETARY and BUS datasets?