skyrimyun/global_alignment

Global_alignment

This project is based on repository Globally_Aligned_Events .

I only did some slight changes in order to complete the need of my master thesis. Please refer to the original repository for detailed information on prerequisites. Here I list the main modifications I have made:

• replace all uint16 data type with uint32 in order to avoid overflow when using more intensive datasets
• output the estimated pose to txt file for further comparison and evaluation
  • output format: time x y z q_x q_y q_z q_w
• set publisher/receiver queue size to inf
• add configuration files to support ESIM datasets and (shapes_rotation/boxes_rotation/dynamic_rotation/poster_rotattion).
• skip event_bundler. now events from event_publisher go directly to rotation_estimator
• delete code that is not used in my thesis