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SJTU-ViSYS / M2DGR

M2DGR： a Multi-modal and Multi-scenario Dataset for Ground Robots(RA-L2021 & ICRA2022)
MIT License
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缺少部分数据 #60

Closed FengyuGuo closed 1 year ago

FengyuGuo commented 1 year ago

我下载了 street_09这个数据，发现里面缺少d435i的数据。

path:        street_09.bag
version:     2.0
duration:    15:07s (907s)
start:       Aug 07 2021 14:01:15.56 (1628316075.56)
end:         Aug 07 2021 14:16:23.24 (1628316983.24)
size:        77.5 GB
messages:    1152985
compression: none [59191/59191 chunks]
types:       dvs_msgs/EventArray                      [5e8beee5a6c107e504c2e78903c224b8]
             geometry_msgs/TwistWithCovarianceStamped [8927a1a12fb2607ceea095b2dc440a96]
             sensor_msgs/CompressedImage              [8f7a12909da2c9d3332d540a0977563f]
             sensor_msgs/Image                        [060021388200f6f0f447d0fcd9c64743]
             sensor_msgs/Imu                          [6a62c6daae103f4ff57a132d6f95cec2]
             sensor_msgs/MagneticField                [2f3b0b43eed0c9501de0fa3ff89a45aa]
             sensor_msgs/NavSatFix                    [2d3a8cd499b9b4a0249fb98fd05cfa48]
             sensor_msgs/PointCloud2                  [1158d486dd51d683ce2f1be655c3c181]
             ublox_msgs/AidALM                        [de5ab2550e698fc8acfb7263c7c55fa2]
             ublox_msgs/AidEPH                        [796d86b27ebfe497b3a42695f2e69e13]
             ublox_msgs/MonHW                         [605e9f0118e26136185358e2b10a0913]
             ublox_msgs/NavCLOCK                      [a9acfdf2e7ac2bf086926ae4e6a182a0]
             ublox_msgs/NavPVT                        [10f57b0db1fa3679c06567492fa4e5f2]
             ublox_msgs/NavSAT                        [e8ea6afd23cb79e7e7385313416d9c15]
             ublox_msgs/NavSTATUS                     [68047fb8ca04a038a6b031cd1a908762]
             ublox_msgs/RxmRAWX                       [a2df4b27b6a2a1565e42f5669dbb11b5]
topics:      /camera/fifth/image_raw/compressed     13620 msgs    : sensor_msgs/CompressedImage             
             /camera/fourth/image_raw/compressed    13620 msgs    : sensor_msgs/CompressedImage             
             /camera/head/image_raw/compressed      13619 msgs    : sensor_msgs/CompressedImage             
             /camera/left/image_raw/compressed      13619 msgs    : sensor_msgs/CompressedImage             
             /camera/right/image_raw/compressed     13619 msgs    : sensor_msgs/CompressedImage             
             /camera/sixth/image_raw/compressed     13623 msgs    : sensor_msgs/CompressedImage             
             /camera/third/image_raw/compressed     13620 msgs    : sensor_msgs/CompressedImage             
             /dvs/events                            13616 msgs    : dvs_msgs/EventArray                     
             /dvs/imu                              730190 msgs    : sensor_msgs/Imu                         
             /dvs_rendering/compressed              13616 msgs    : sensor_msgs/CompressedImage             
             /handsfree/imu                        128787 msgs    : sensor_msgs/Imu                         
             /handsfree/mag                        128787 msgs    : sensor_msgs/MagneticField               
             /thermal_image_raw                     22692 msgs    : sensor_msgs/Image                       
             /ublox/aidalm                            907 msgs    : ublox_msgs/AidALM                       
             /ublox/aideph                            908 msgs    : ublox_msgs/AidEPH                       
             /ublox/fix                               894 msgs    : sensor_msgs/NavSatFix                   
             /ublox/fix_velocity                      894 msgs    : geometry_msgs/TwistWithCovarianceStamped
             /ublox/monhw                             908 msgs    : ublox_msgs/MonHW                        
             /ublox/navclock                          908 msgs    : ublox_msgs/NavCLOCK                     
             /ublox/navpvt                            894 msgs    : ublox_msgs/NavPVT                       
             /ublox/navsat                             45 msgs    : ublox_msgs/NavSAT                       
             /ublox/navstatus                         908 msgs    : ublox_msgs/NavSTATUS                    
             /ublox/rxmraw                           3631 msgs    : ublox_msgs/RxmRAWX                      
             /velodyne_points                        9060 msgs    : sensor_msgs/PointCloud2
sjtuyinjie commented 1 year ago

抱歉，部分数据确实在录制过程中存在遗漏。建议优先运行论文里使用的序列，那些我都check过