This folder contains groundtruth data useful for generating simulated
trajectories in 3D space to test estimators on, using the B-Spline simulator
included in navlie. For an example of how to load in the data and use it to
generate simulated trajectories, see the example ex_simulated_kitti.py.
To generate your own simulated dataset from a custom trajectory, ensure that the trajectory file is in TUM format, where each line is formatted as follows:
timestamp tx ty tz qx qy qz qw
where timestamp is the time in seconds, tx ty tz are the components of the translation,
and qx qy qz qw are the components quaternion that represents the orientation of the platform.
It is assumed that the quaternion corresponds to C_ab.