I am experiencing huge transformation errors in tasks 2 to 5 in the recently released version 2 scene files.
Apparently the tcp and scene cameras are rotated 180°, as clearly visible from the description in the yaml files:
- Code: Select all
tcp_rgb_cam in common_sensors public_description, this is what we receive from the euroc service and base our calculations on:
pose: [... , ..., ... , -1.5708, 1.5708, 0. ]
tcp_rgb_cam in task2_v1_commons internal_description:
pose: [ ..., ..., ..., -1.57079796466, 1.57080124991, -2.74052798542e-06 ]
tcp_rgb_cam in task2_v2_commons internal_description:
pose: [ ..., ..., ..., 1.57080112864, 1.57080162787, 8.42764322947e-06 ]
tcp_rgb_cam in typical_error_v2 internal_description:
pose: [ ..., ..., ..., 1.57080303161, 1.57080126505, 3.36815850221e-06 ]
Same thing with the scene_rgb_cam.
As the maximum pose error is 0.01°according to the technical annex, I assume these errors are unintended?
Greetings,
Moritz