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TixiaoShan / LVI-SAM

LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping
https://youtu.be/8CTl07D6Ibc
BSD 3-Clause "New" or "Revised" License
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TimeStamp of imu in the datasets #16

Closed qiaoqiaodefengle187 closed 3 years ago

qiaoqiaodefengle187 commented 3 years ago

Thank you for your work, but I have a problem about the dataset: I printed the timestamp of the dataset you provided, and I found some problems with IMU, as shown in the following figure. IMU is not uniformly sampled, is this the correct timestamp or something wrong? imu :1592423047.652287 imu :1592423047.653273 imu :1592423047.654281 imu :1592423047.658288 imu :1592423047.659220 imu :1592423047.660274 imu :1592423047.663302 imu :1592423047.664251 imu :1592423047.665274 imu :1592423047.669284 imu :1592423047.676231 imu :1592423047.677208 imu :1592423047.678205 imu :1592423047.679205 imu :1592423047.680207 imu :1592423047.682220 imu :1592423047.683204 imu :1592423047.684206 imu :1592423047.687218 imu :1592423047.688215 imu :1592423047.689263 imu :1592423047.693287 imu :1592423047.694272 imu :1592423047.695210 imu :1592423047.700286 imu :1592423047.701271 imu :1592423047.702214 imu :1592423047.705285 imu :1592423047.706218 imu :1592423047.707212 imu :1592423047.711227 imu :1592423047.712312 imu :1592423047.713274 imu :1592423047.717261 imu :1592423047.718269 imu :1592423047.719213 imu :1592423047.724327 imu :1592423047.725272 imu :1592423047.726282 imu :1592423047.729284 imu :1592423047.730273

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