If anyone has worked with KITTI dataset, can you explain the reference frame used in roll pitch yaw values?
I downloaded the raw data from this link: http://www.cvlibs.net/datasets/kitti/raw_data.php
The KITTI data states the following:
roll: roll angle (rad), 0 = level, positive = left side up, range: -pi .. +pi
pitch: pitch angle (rad), 0 = level, positive = front down, range: -pi/2 .. +pi/2
yaw: heading (rad), 0 = east, positive = counter clockwise, range: -pi .. +pi
By counter clockwise do they mean car turning left is positive yaw?
Also what is the convention for positive and negative for the angular rates?
wx: angular rate around x (rad/s)
wy: angular rate around y (rad/s)
wz: angular rate around z (rad/s)
I would assume that x y and z are forward leftward and upward as mentioned in the text.