Potential Issue with GT Quaternions in S3E_Teaching_Building_1 Dataset #27
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DanielChaseButterfield
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I could see this being an intentional choice with only the ground truth location known, but not the rotation. |
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Hi, I think I discovered a problem with the S3E_Tunnel_1 Dataset (https://huggingface.co/datasets/PengYu-Team/S3E/tree/main/S3Ev1/S3E_Teaching_Building_1). The ground truth pose files (for example, "alpha_gt.txt") have their quaternions constant at 0.0 0.0 0.0 1.0, even though the robots are rotating relative to their start locations in the recorded rosbag images.
Is this a mistake, and if so, are there any backup files that might have the correct data?
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