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ArashJavan / DeepLIO

Deep Lidar Inertial Odometry
Apache License 2.0
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About imu mean and std #6

Closed tym2103 closed 3 years ago

tym2103 commented 3 years ago

What sequences does it include，00-08 or 00-10

ArashJavan commented 3 years ago

The mean and std for imu and lidars are calculated from seq. 00-08, which were used as training datasets in this project.

tym2103 commented 3 years ago

OK，and the mean and std about imu in config.yaml and readme.md are different which one you use?

ArashJavan commented 3 years ago

I use the config.yaml values, README is partly outdated and is just a showcase. I will update it soon.

tym2103 commented 3 years ago

I both try two value adout mean and std In my method to solve odometry problem, the outdated value can get better result I use 09-10 as testset as well Do you remember the formula to get outdated value Thanks a lot

ArashJavan commented 3 years ago

The mean and std are calculated using this script.

tym2103 commented 3 years ago

the script's result is config.yaml values. But I want to know how to get outdated result which from README. sorry to trouble you again

ArashJavan commented 3 years ago

I just checked the history of git! The mean/std you are looking for are added first at 14.05.2020 with the commit comment "Adding pointseg" and this commit. 1df26843e7a9f7f333fff565f53ef35c0adc4f52

Just check out this commit and run the script at that version, you may get the same "outdated" results!

good luck Arash

tym2103 commented 3 years ago

I find in this version you add "outdated" imu mean and std in config,yaml ad2fadd9bfbd6bbfb26434489701384ae07e97ed But I can only use this version to get the "newest" results Do you still remember this version? thank you

ArashJavan commented 3 years ago

Do you still remember this version? I am not sure what you mean by that! But anyway run the script of that version and see if you get the results as in README. But I do not really remember the configuration for those values in README.

tym2103 commented 3 years ago

I know how to get "outdated" result, in that version's config.yaml, trainset is 00-07 rather than 00-08. I forget to modify the trainset value!!! sorry for trouble you so many times Thanks again for your answers ^-^ by the way, did you publish paper about this code?I want to read your paper.