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RPM-Robotics-Lab / file_player_mulran

File Player for MulRan Dataset
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Field "t" in ouster scans #16

Closed mramezani64 closed 1 year ago

mramezani64 commented 1 year ago

Hi, It seems field "t" is not filled in conjunction with the other fields in the ouster scan topic. Is there a way to fix this or it is missing in bin files?

minwoo0611 commented 1 year ago

Sorry for the late responding.

Actually, there are only channels with x, y, z, intensity. Therefore, the channel "t" is missing in bin files. However, if you need a time channel and the accuracy of time is not really critical, you can assume the uniform circular motion, and propagate the time for each point.

There are some examples such as CLINS and FAST-LIO2, which are given the time channel to velodyne.

I hope that your problem can be solved by this comment.