Failed to run se2clam with my own dataset

[orange2xiaoyu]

Hi, I wanna run se2clam with my own dataset, and I have modified these files and uploaded them to the link:

• folder: image

• file: "odo_raw.txt"

• config files: "ComConfig.yml", "Settings.yml"

But when I run se2clam, trajectory cannot be showed correctly.

The figure below shows the wrong trajectory using my own dataset.

The real trajectory looks like this:

I would appreciate it if you could show light on these questions:

• whether I have modified files wrong or other reasons.

• the unit of the x and y in saved trajectory file "se2clam_kf_trajectory.txt".

[izhengfan]

Hi thank you for the feedback. I will test your data recently, but might not very soon.

[orange2xiaoyu]

It is all right, thank you very much.

[oym1994]

Hi, I observed that the dataset tested in your papar was collected from a vehicle equiped with a camera which looks upward. Have you also tested it on a robot which looks forward? I have tested it but the also get wrong trajectory. Maybe the camera direction really matters a lot.
Thank you!