Asking about ground truth in dataset.

[aqle4090]

Thanks for the fantastic work!
I was just wondering how to get the ground truth in your dataset.
Take indoor_flying1_edited, for example. Is it the data under the topic of "/davis/left/odometry" in indoor_flying1_edited.bag?
I tried plotting the translation results; the trend is similar, but the numbers do not match in the paper.

[njk378390126]

Is it because you didn't transform the pose into the camera coordinate? The ground truth we provide is in the camera coordinate, and we use the /davis/left/odometry topic as the ground truth.