Committing correct dataset files for Kitti IMU example
Richard Roberts
parent
3e2afaf726
commit
004ec887a1
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Time Latitude Longitude Altitude PositionSigma
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46534.47837579 48.982530923568 8.3903459539796 116.43446350098 0.072138755187486
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46536.397971133 48.982637737646 8.3904395756801 116.39415740967 0.077077882690173
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46537.40790448 48.982638403644 8.3904400660267 116.39430236816 0.077077882690173
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46538.417854613 48.982639054039 8.3904406077418 116.39440917969 0.077077882690173
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46539.427814058 48.982639701333 8.3904411470687 116.39470672607 0.077077882690173
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46540.437704157 48.982640368632 8.3904416416362 116.39482116699 0.077077882690173
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46547.506781063 48.982644974973 8.3904453372047 116.39517974854 0.077077882690173
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46548.516637843 48.9826456288 8.3904458799874 116.39517211914 0.077077882690173
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46560.625244993 48.98265362289 8.3904521942027 116.39569091797 0.077077882690173
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46563.654853868 48.982655638509 8.3904537785253 116.39585113525 0.077794601355107
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46595.951309096 48.982677544021 8.3904709557016 116.40765380859 0.077794601355107
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46597.96117884 48.982678935435 8.390472038199 116.40875244141 0.077794601355107
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46598.970937122 48.982679625896 8.3904725992791 116.40939331055 0.077794601355107
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46600.990674182 48.982681019694 8.3904736808386 116.41033172607 0.077794601355107
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||||
46892.667424349 48.982898958013 8.3906443826796 116.54379272461 0.051107729356723
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||||
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||||
46894.687816687 48.982900516959 8.3906455824252 116.5463104248 0.051107729356723
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||||
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||||
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||||
46897.716839862 48.982902844001 8.3906473788662 116.54862976074 0.051107729356723
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||||
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||||
46899.73665572 48.982904382145 8.3906485681821 116.54795837402 0.051107729356723
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||||
46900.746541701 48.982905167443 8.3906491746946 116.55098724365 0.051107729356723
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||||
46901.756401271 48.982905936067 8.3906497741015 116.5509185791 0.051107729356723
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||||
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||||
46903.776295577 48.982907488848 8.3906509747703 116.55358886719 0.051107729356723
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||||
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||||
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||||
46907.81569973 48.982910573984 8.3906533739064 116.55563354492 0.051107729356723
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||||
46908.825612749 48.982911345127 8.3906539675577 116.55488586426 0.051107729356723
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||||
46909.835528661 48.982912128347 8.3906545698534 116.55732727051 0.051107729356723
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||||
46910.845371598 48.982912896961 8.3906551646956 116.55702972412 0.051107729356723
|
||||
46911.855258862 48.982913662591 8.3906557612821 116.55693054199 0.051107729356723
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||||
46912.865207373 48.982914444259 8.3906563621292 116.55935668945 0.051107729356723
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||||
46913.875217009 48.982915211568 8.3906569523297 116.55922698975 0.051107729356723
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||||
46914.885120318 48.982915979685 8.3906575480123 116.55889892578 0.051107729356723
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||||
46915.894922607 48.98291675962 8.3906581462098 116.56122589111 0.051107729356723
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||||
46916.90474484 48.982917526374 8.3906587357421 116.56113433838 0.051107729356723
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||||
46917.904794336 48.982918293947 8.3906593238035 116.56090545654 0.051107729356723
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||||
46918.914687072 48.982919074075 8.3906599162375 116.5630645752 0.051107729356723
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46919.924363772 48.982919840744 8.3906605018862 116.5629119873 0.051107729356723
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46920.934238628 48.982920607274 8.3906610897463 116.56280517578 0.051107729356723
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46921.944148956 48.982921385183 8.3906616804399 116.5648651123 0.051107729356723
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46922.954041151 48.982922149771 8.3906622646921 116.56478881836 0.051107729356723
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46923.963896322 48.982922916584 8.3906628498759 116.56467437744 0.051107729356723
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46924.963914916 48.982923693477 8.3906634381239 116.56662750244 0.051107729356723
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46925.973907879 48.982924458805 8.3906640185973 116.56633758545 0.051107729356723
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46934.052725383 48.982930602284 8.3906686719863 116.56777191162 0.051107729356723
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46936.072520176 48.982932129351 8.390669826704 116.5657043457 0.051107729356723
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46937.082411589 48.982932901609 8.3906704077574 116.56665802002 0.051107729356723
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46941.121952338 48.982935958395 8.3906727173536 116.56481933594 0.051107729356723
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46942.131875512 48.982936719487 8.3906732932631 116.56387329102 0.051107729356723
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46953.24055257 48.982945093931 8.3906797106438 116.56645965576 0.051107729356723
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46958.289976632 48.982948894621 8.3906826232925 116.57034301758 0.051107729356723
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46959.299886859 48.982949652104 8.3906831989033 116.57125091553 0.051107729356723
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46960.309765589 48.982950410373 8.3906837808762 116.57192230225 0.051107729356723
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46961.319655022 48.982951171478 8.3906843699989 116.57392120361 0.051107729356723
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46962.329479781 48.982951929485 8.3906849447623 116.57461547852 0.051107729356723
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46963.339424565 48.982952686833 8.3906855229563 116.57586669922 0.051107729356723
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46964.349275317 48.982953447369 8.3906861125618 116.5778427124 0.051107729356723
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46965.359168118 48.982954201875 8.3906866891254 116.57861328125 0.051107729356723
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46966.369233692 48.982954960951 8.3906872643341 116.57935333252 0.051107729356723
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46967.379188594 48.982955719952 8.390687853023 116.58097839355 0.033600595232823
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46968.388966176 48.982956474316 8.3906884312723 116.58137512207 0.033600595232823
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46969.398909085 48.982957229088 8.3906890059952 116.58237457275 0.033600595232823
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46970.408716186 48.982957987257 8.3906895936359 116.58386993408 0.033600595232823
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46971.418726445 48.982958742188 8.390690164902 116.58389282227 0.033600595232823
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46972.428590244 48.982959496062 8.3906907446756 116.58442687988 0.033600595232823
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46973.438313836 48.982960252931 8.3906913311975 116.58554077148 0.033600595232823
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46974.438340286 48.982961004717 8.3906919069974 116.5856552124 0.033600595232823
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46975.448185205 48.982961760777 8.3906924757347 116.58567810059 0.033600595232823
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46976.45797584 48.982962517438 8.390693058565 116.58670043945 0.033600595232823
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||||
46977.467846198 48.982963270234 8.3906936304815 116.58670043945 0.033600595232823
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46978.467898342 48.982964021779 8.3906942050281 116.58692932129 0.033600595232823
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46979.477596612 48.982964776881 8.3906947869431 116.58779144287 0.033600595232823
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46983.517118638 48.982967785002 8.3906970814261 116.58840942383 0.033600595232823
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46984.526948992 48.982968535949 8.390697654384 116.58837127686 0.033600595232823
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46985.536857947 48.982969289053 8.3906982332511 116.58909606934 0.033600595232823
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46986.546737498 48.982970038133 8.3906988038223 116.58887481689 0.033600595232823
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||||
46987.556657323 48.982970790436 8.3906993715514 116.58875274658 0.033600595232823
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46988.566715759 48.982971542455 8.3906999499718 116.58930206299 0.033600595232823
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||||
46989.576409117 48.982972290445 8.3907005207007 116.58917999268 0.033600595232823
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||||
46990.58628031 48.982973040192 8.39070109028 116.5890045166 0.033600595232823
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46991.596233106 48.982973791475 8.3907016679585 116.58950805664 0.033600595232823
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||||
46992.60605425 48.982974539908 8.3907022362086 116.58917999268 0.033600595232823
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46993.616026659 48.982975287272 8.3907028082783 116.5890045166 0.033600595232823
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||||
46994.625821268 48.982976035033 8.3907034039939 116.58915710449 0.033600595232823
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||||
46995.635751899 48.982976780843 8.3907039749871 116.58876800537 0.033600595232823
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||||
46996.645591573 48.982977528466 8.3907045449079 116.58850860596 0.033600595232823
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46998.665530916 48.982979020186 8.3907057102071 116.58827972412 0.033600595232823
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46999.675265207 48.982979765191 8.3907062832539 116.58805847168 0.033600595232823
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||||
47000.685218422 48.982980510851 8.3907068771266 116.5881729126 0.033600595232823
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||||
47001.695029865 48.982981256295 8.3907074448941 116.58788299561 0.033600595232823
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||||
47002.704901935 48.982982001613 8.3907080148377 116.58746337891 0.033600595232823
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||||
47003.715449642 48.982982746538 8.390708606401 116.58760070801 0.033600595232823
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||||
47004.724710736 48.982983491137 8.3907091727507 116.58738708496 0.033600595232823
|
||||
47005.734604637 48.982984236533 8.3907097406197 116.58688354492 0.033600595232823
|
||||
|
|
@ -0,0 +1,471 @@
|
|||
Time,X,Y,Z
|
||||
46534.478375790000428,-6.8269361350059405424,-11.868164241239471224,0.040306091310000624617
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||||
46537.38795533299708,3.8971155017667178377,7.5450738511330808223,0.024787902829999097776
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||||
46538.387785225997504,8.0788576534581366673,15.642043936442718177,0.029815673830000832822
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||||
46539.387627609001356,12.549835136527262236,24.282061417275254911,0.12959289551000097163
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||||
46540.387861144001363,16.916268020014168627,32.965313321824140758,0.17036437987999875077
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||||
46541.387441509999917,21.110495107325409236,41.307725695796385423,0.1901092529300001388
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||||
46542.387289405996853,24.967605701539053342,49.088624444953225634,0.18263244629000041641
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||||
46543.387175550000393,28.175451591166300602,55.75123069655832353,0.20228576659999930598
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||||
46544.387120519000746,30.645928711583753312,60.88509197772614101,0.33600616454999965299
|
||||
46545.387070969001797,32.999440612836473008,64.756789569115412064,0.36680603026999847316
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||||
46546.386845968998387,36.225388777185081324,66.928413595217421062,0.32826995848999729333
|
||||
46547.386768579999625,39.969936804402195207,66.914223675426654836,0.25498962401999847316
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||||
46548.386642792997009,43.944171431156043184,65.488178239633043631,0.20771789551000097163
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||||
46549.386515313999553,48.783812177427734014,62.913791251010913186,0.17237091063999798735
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||||
46550.386426851997385,54.930451386218400955,59.475235894180208618,0.12875366211000027761
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||||
46551.386317910000798,61.907719510021202325,55.889377364956075667,0.16490936278999868136
|
||||
46552.386167971999384,68.774466715490333968,52.212114904807641835,0.23799896239999895897
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||||
46553.386068874002376,74.987299794425581467,48.118904667819712984,0.27249908446999882017
|
||||
46554.388508882002498,80.203916800328471481,44.1225319993418168,0.30536651610999854256
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||||
46555.385842474999663,84.527286237801490643,41.378584631074389222,0.36229705809999757093
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46556.385725270003604,88.892287955578325409,40.63279437462700372,0.40191650389999722393
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||||
46557.385595548003039,92.680525268955207707,42.612670478896809811,0.45742034911999951419
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||||
46558.385481254001206,96.182434224700728009,46.217038904063642235,0.39232635497999979179
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||||
46559.385400207000202,100.46524320252837015,50.573042441936983948,0.39536285399999826495
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||||
46560.385274576001393,105.47834962112023049,55.686008173637645768,0.39558410643999764034
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46561.385144193998713,110.99233621958052254,61.568390250881563475,0.41084289551000097163
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||||
46562.385083227003634,116.77326171673885824,67.592593421237040729,0.40345001221000131864
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||||
46563.384906683997542,122.46240829395669891,73.329952868524358678,0.41539001465000069402
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||||
46564.384892608002701,127.82117525030297145,79.050095968931429979,0.36444091797000055521
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46565.384727712000313,132.82963723443151594,85.019421224026956452,0.32965087889999722393
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46566.384613756003091,137.47309283513635592,91.396595189990549102,0.28655242920000034701
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||||
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46568.385137423996639,145.85611449469800505,105.05195028402231117,0.098045349119999514187
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46569.384279846002755,149.6763828284636304,112.31255406650645057,0.014762878420000902224
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46570.384106564997637,153.38740789762820782,119.55416873237690822,0.043121337889999722393
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||||
46571.384054293099325,156.66408826558361511,126.081349276849636,-0.018473760163843166993
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||||
46572.383983459396404,159.74333207938349233,132.17376438000738403,-0.084361253309467088002
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||||
46573.383855818996381,162.87674964757272278,137.59566764018197205,-0.065246582029999444785
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||||
46574.383745471001021,166.10057263307433573,143.18553836043736283,-0.10613250733000256787
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46575.383571074002248,169.42174732319227815,148.78165971195986117,-0.042266845710003053682
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46576.383468296997307,172.55684037470174985,154.36689679152209465,-0.0028991699199991671776
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46579.383125170003041,174.80379311092318062,166.83279256403770319,-0.13904571532999909778
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46580.383000882997294,171.60724021371737535,169.79242249983232682,-0.29611968993999937538
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46581.38288393199764,166.61963223021794533,172.54698214196463368,-0.39171600342000090222
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46583.382690958998865,152.61794168458345666,179.61861287468784099,-0.56092834473000152684
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46584.38252138900134,145.16818788023095976,183.56055562701376971,-0.73552703858000256787
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||||
46585.382391867002298,137.96684507816738119,187.42683669351899312,-0.71932983399000249847
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||||
46586.382363227996393,131.04307782478892364,191.00520148643437324,-0.65345764159999930598
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46587.392206058000738,124.48381454010724667,194.05611957595871786,-0.57786560059000180445
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46588.392072656002711,119.20523366234911578,196.6100075672716514,-0.53408050536999951419
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||||
46589.39193417000206,115.38574813677392683,198.65670196237397249,-0.49569702149000249847
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||||
46590.391838361996633,113.22905373990322175,199.97658632839556958,-0.4696426391599999306
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||||
46591.391755468001065,112.78194917266212371,200.27688808661812914,-0.43870544434000180445
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||||
46592.391626611002721,112.78481198567963872,200.32050828612688065,-0.44582366944000284548
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||||
46920.354281706997426,143.97423363160649501,335.465830576235021,-1.2874069213900014574
|
||||
46921.354149742997834,134.8560331567038304,340.07062638304404345,-1.3436355590799990978
|
||||
46922.354121598997153,125.51254157390405908,344.92671900148644681,-1.3485260009800015268
|
||||
46923.353918469001655,116.30701416904281587,349.65838365217467754,-1.3480529785200019433
|
||||
46924.353819807001855,107.86581715398378378,354.33866081402101145,-1.3379516601600016656
|
||||
46925.353708110000298,100.50880747387023462,358.49330681548241273,-1.3425521850600006246
|
||||
46926.353590231003182,92.750805549819801854,362.0533336028006488,-1.2418594360400021515
|
||||
46927.353508248997969,83.924482569320147718,366.2214350843852344,-1.2872390747100013186
|
||||
46928.353431773997727,74.141012635446827517,371.45082105087067248,-1.2266769409200009022
|
||||
46929.353274923996651,64.32023738182229522,377.14516085114564703,-1.1474227905300011798
|
||||
46930.353142840998771,54.483268896451392038,382.32898518522813447,-1.097938537600001041
|
||||
46931.353068468000856,44.765241066631844546,387.23270209194811287,-1.1085815429700005552
|
||||
46932.352952556997479,35.297616855746731801,391.8096229453651631,-1.1099624633800004858
|
||||
46933.352797216997715,26.017039983397530989,396.32154860791132478,-1.0342559814500020821
|
||||
46934.352697912996518,16.737687459963893843,401.27825877240638874,-0.93202209473000152684
|
||||
46935.352599382000335,7.2941649731415472147,406.64765017449792595,-0.94470214844000111043
|
||||
46936.355655200000911,-2.0482474673975867852,412.28415941098268149,-0.99134063721000131864
|
||||
46937.352345995997894,-10.58373102731491322,417.85672956162250102,-1.0022048950200002082
|
||||
46938.352227058996505,-17.69879117869188434,422.87517293510131822,-0.97797393799000076342
|
||||
46939.352131193001696,-22.755191399222333359,427.17889710011786519,-0.93453979491999916718
|
||||
46940.352011023998784,-26.205494343878417141,430.58438264300571063,-0.8790740966800001388
|
||||
46941.351916473999154,-29.274323310246924024,432.91934875223682866,-0.84181213379000041641
|
||||
46942.351803507001023,-32.810347498604414795,434.93916441017154284,-0.84639739989999895897
|
||||
46943.351769294997212,-36.16779435708140511,437.17090765428304167,-0.84902191161999951419
|
||||
46944.351624458002334,-38.684694879082023533,439.14520323388177303,-0.86119842528999868136
|
||||
46945.351437033001275,-41.509744436496980313,440.71826328963271635,-0.85996246338000048581
|
||||
46946.351363577996381,-45.874301915768434412,440.88888533176191231,-0.8728790283199998612
|
||||
46947.351236494003388,-51.149230857281608564,437.83164783292193079,-0.89488983155000312308
|
||||
46948.351188975000696,-56.437469056461694095,431.65848150015494866,-0.92161560059000180445
|
||||
46949.351032658996701,-62.295949509394027643,423.40518429262908739,-0.87306976319000284548
|
||||
46950.350929432999692,-68.681134210986030553,414.11626901144325075,-0.8853378295900000694
|
||||
46951.350772140001936,-74.808694222621667791,404.47437448997072806,-0.8271484375
|
||||
46952.350653155001055,-80.353679805765622746,394.77041087362255212,-0.84577178954999965299
|
||||
46953.350548993999837,-85.350015170611698068,384.98032151837924175,-0.84488677979000215146
|
||||
46954.350441702001262,-90.030393266143434516,374.86594098401326391,-0.79623413086000027761
|
||||
46955.350306619999174,-94.46049481405945869,364.32405896216437213,-0.76155853272000229026
|
||||
46956.350187477000873,-98.560670328141540608,353.35121480330701615,-0.74091339112000298428
|
||||
46957.350091767002596,-102.20357447316345656,341.88241232070890874,-0.69037628174000076342
|
||||
46958.349959084996954,-105.26785679148613895,330.23702916131861684,-0.64362335204999965299
|
||||
46959.349885711999377,-107.86814389959920391,318.47382177500008993,-0.60993957520000208206
|
||||
46960.349725193998893,-109.94543382318043712,306.6814145529920097,-0.58638763428000117983
|
||||
46961.349620494002011,-111.67327111226919101,294.961997476840736,-0.57875823975000173505
|
||||
46962.349509216997831,-112.95221098309106367,283.25954963752843696,-0.57131958008000083282
|
||||
46963.349418464997143,-113.68487539195521663,271.68914750363489929,-0.60229492188000222086
|
||||
46964.34927531699941,-113.96345459607729822,260.18683531835483791,-0.66316223145000208206
|
||||
46965.34916414199688,-113.83788946788720864,248.14345650591192793,-0.41860961913999972239
|
||||
46966.349044647999108,-113.11898010099190515,236.19619393107063843,-0.27913665772000229026
|
||||
46967.348979000002146,-111.96123934145431633,224.49615230144561906,-0.19186401366999916718
|
||||
46968.348871749003592,-110.3443099231207043,212.97302278952773236,-0.19429779053000117983
|
||||
46969.348730660996807,-108.16342677871163858,201.35569069550746235,-0.22497558594000111043
|
||||
46970.348669594000967,-105.40823209883325262,189.5654974607294605,-0.21204376221000131864
|
||||
46971.348527624999406,-102.0314412325961797,177.63949443365871161,-0.22717285155999888957
|
||||
46972.34835123999801,-98.188466769994434458,165.52617623567550709,-0.23279571532999909778
|
||||
46973.348649284998828,-94.244828278846412672,153.36495830715139732,-0.25503540038999972239
|
||||
46974.348143802999402,-90.478625861548209741,141.27604319422110279,-0.25569915772000229026
|
||||
46975.348015522999049,-86.727113144278604295,129.20989406488212126,-0.19291687012000124923
|
||||
46976.347951901996566,-82.877867100128213451,117.13132489402444492,-0.19576263428000117983
|
||||
46977.347813646003488,-79.067703192101618015,105.14378243394270385,-0.15205383301000097163
|
||||
46978.347675094002625,-75.278532278254246535,93.19975517466104975,-0.13592529297000055521
|
||||
46979.347647937000147,-71.465629850153788993,81.178046462869701827,-0.13843536377000020821
|
||||
46980.347462776997418,-67.581223521569086188,69.039892737791376476,0.030700683589998334355
|
||||
46981.347367907997977,-63.651447797827024999,56.825740551156961544,0.10857391356999812615
|
||||
46982.347278505003487,-59.685569489696888468,44.732710907083692575,0.13829040526999847316
|
||||
46983.347119395999471,-55.87899122574000188,32.872184621828118622,0.12744140625
|
||||
46984.347067964001326,-52.314690428185905091,21.338506169721650707,0.15969848633000083282
|
||||
46985.346893852001813,-48.987333798108103622,10.849372849931011586,0.16168212889999722393
|
||||
46986.346767094000825,-46.002325629785204342,1.9530343645200729519,0.21207427977999770974
|
||||
46987.346644769000704,-42.929206243152208344,-5.0307227497489455104,0.24660491942999840376
|
||||
46988.346598030002497,-38.434593989269714598,-10.053910096743235769,0.26447296141999743213
|
||||
46989.346432667996851,-32.577735301777806853,-12.22152847985408286,0.23803710936999777914
|
||||
46990.347052616001747,-26.483322336100375338,-12.087971784792534535,0.25318145752000020821
|
||||
46991.346203913002682,-20.961556657486305255,-11.892073551484919847,0.28937530516999743213
|
||||
46992.346088564998354,-16.812199708066042803,-12.024634363218281052,0.34922790526999847316
|
||||
46993.345977604003565,-14.251443954876600984,-12.183130805912274042,0.35620117186999777914
|
||||
46994.345917637001548,-11.894700642460625417,-12.057665178125445138,0.37288665770999784854
|
||||
46995.345755278998695,-8.6316370795873460509,-10.941915443428877452,0.44065093993999937538
|
||||
46996.345629732000816,-4.6950163866343590513,-7.6813157532786418003,0.41727447510000104103
|
||||
46997.345557547996577,-0.84781301928128538492,-1.6356182592330898995,0.33279418944999861196
|
||||
46998.345453091002128,3.2940628683126247367,6.007271487174958402,0.32692718506000062462
|
||||
46999.345277827997052,7.7497557736398503536,14.722833210032362672,0.35280609131000062462
|
||||
47000.345218854999985,12.362869986475086392,24.152161145795897568,0.39763641356999812615
|
||||
47001.345093912001175,17.237751616497828167,33.837274646298020286,0.39656066893999764034
|
||||
47002.344988381002622,22.420744509068281758,43.792895294811927442,0.40112304686999777914
|
||||
47003.344868961001339,27.692088849141683227,54.017320988891633249,0.4754180908199998612
|
||||
47004.344769659997837,32.835945885505161357,64.078486155874159635,0.64945220946999882017
|
||||
47005.344607181999891,37.900393030289734497,73.834494369159585858,0.62051391600999750153
|
||||
|
|
@ -1,2 +0,0 @@
|
|||
BodyPtx BodyPty BodyPtz BodyPrx BodyPry BodyPrz UpdatePeriod
|
||||
-0.0147725597895258 7.22876903268996e-006 -1.49304056640669e-005 -0.809818318663195 0.32628214806349 -0.797376731139142 1
|
||||
|
|
@ -12,10 +12,6 @@ if ~IMUinBody.equals(Pose3, 1e-5)
|
|||
error 'Currently only support IMUinBody is identity, i.e. IMU and body frame are the same';
|
||||
end
|
||||
|
||||
% GPS metadata
|
||||
GPS_metadata = importdata(findExampleDataFile('KittiRelativePose_metadata.txt'));
|
||||
GPS_metadata = cell2struct(num2cell(GPS_metadata.data), GPS_metadata.colheaders, 2);
|
||||
|
||||
%% Read data
|
||||
disp('-- Reading sensor data from file')
|
||||
% IMU data
|
||||
|
|
@ -26,7 +22,7 @@ imum = cellfun(@(x) x', num2cell([ [IMU_data.accelX]' [IMU_data.accelY]' [IMU_da
|
|||
clear imum
|
||||
|
||||
% GPS data
|
||||
GPS_data = importdata(findExampleDataFile('Gps_converted.txt'));
|
||||
GPS_data = importdata(findExampleDataFile('KittiGps_converted.txt'));
|
||||
GPS_data = cell2struct(num2cell(GPS_data.data), GPS_data.colheaders, 2);
|
||||
for i = 1:numel(GPS_data)
|
||||
GPS_data(i).Position = gtsam.Point3(GPS_data(i).X, GPS_data(i).Y, GPS_data(i).Z);
|
||||
|
|
|
|||
Loading…
Reference in New Issue