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JokerJohn / LIO_SAM_6AXIS

LIO_SAM for 6-axis IMU and GNSS.
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Some topic is lost in hkust_20201105full.bag #13

Closed chengwei0427 closed 1 year ago

chengwei0427 commented 2 years ago

Hi, @JokerJohn Thank you for your great work and the test dataset. Some data is lost in the last 100 seconds of hkust_20201105full.bag. This may cause a error. 2022-07-26 16-40-41屏幕截图

JokerJohn commented 2 years ago

Hi, @JokerJohn Thank you for your great work and the test dataset. Some data is lost in the last 100 seconds of hkust_20201105full.bag. This may cause a error. 2022-07-26 16-40-41屏幕截图

Yes, although about 30 frames of point clouds are lost in the last part, it has little effect on the performance of the algorithm. I will release a test bag of ouster128+stim300 soon.

chengwei0427 commented 2 years ago

Hi, @JokerJohn Thank you for your great work and the test dataset. Some data is lost in the last 100 seconds of hkust_20201105full.bag. This may cause a error. 2022-07-26 16-40-41屏幕截图

Yes, although about 30 frames of point clouds are lost in the last part, it has little effect on the performance of the algorithm. I will release a test bag of ouster128+stim300 soon.

Glad to hear that.

JokerJohn commented 2 years ago

Hi, @JokerJohn Thank you for your great work and the test dataset. Some data is lost in the last 100 seconds of hkust_20201105full.bag. This may cause a error. 2022-07-26 16-40-41屏幕截图

Yes, although about 30 frames of point clouds are lost in the last part, it has little effect on the performance of the algorithm. I will release a test bag of ouster128+stim300 soon.

Glad to hear that.

new dataset has released, you can download it here. image

chengwei0427 commented 1 year ago

你好， @JokerJohn

  1. 请问你分享的如下两个bag，激光的时间戳，是激光帧头还是帧尾的时间呢？ 
    hkust_20201105full.bag
20220216_garden_day_ref_compressed.bag
  2. 20220216_garden_day_ref_compressed.bag 好像没有gps数据？ 请问你有计划开源一个带gps和轮速计的数据集吗？
JokerJohn commented 1 year ago

你好， @JokerJohn

  1. 请问你分享的如下两个bag，激光的时间戳，是激光帧头还是帧尾的时间呢？

  hkust_20201105full.bag

  20220216_garden_day_ref_compressed.bag
  1. 20220216_garden_day_ref_compressed.bag 好像没有gps数据？ 请问你有计划开源一个带gps和轮速计的数据集吗？

1.hkust数据是velodyne 16，其雷达点云中每个点的时间戳我印象中应该是（真实时间戳-帧头时间戳），数值应该小于0.1s。garden day数据是ouster雷达，其时间戳是处理后的，time通道中存储的时间戳也应该是(真实时间戳-帧头)，数值小于0.1s 2.garden day数据集基本在室内手持采集，没有gps数据，也没有轮速。其他带🈶️轮速的车载平台数据后续将在新的数据集中发布出来。

chengwei0427 commented 1 year ago

Thank you very much! Question solved. I'll close this issue.