Inquiry about running NTU-VIRAL dataset with config_ntu.yaml

[shenhm516]

Thank you for your excellent open-source lidar odometry.

I evaluated the TRAJ-LO on the NTU-VIRAL dataset with the ./trajlo ../data/config_ntu.yaml, but could not get consistent ATE results with the paper published on RA-L. The ATE is getting from the official evaluation python script from NTU-VIRAL dataset . Could you give me some advice about how to get a consistent ATE with the results illustrated in your paper? Moreover, the ./trajlo ../data/config_ntu.yaml seems useful for single lidar odometry, but does not work for the multi-lidar odometry. How can I run TRAJ-LO with multiple lidar?

Looking forward to your reply.

[snakehaihai]

一楼吃瓜

[brytsknguyen]

*grabs popcorn

[brytsknguyen]

@shenhm516 In SLICT I wrote a mergelidar node. Please check it out here:

https://github.com/brytsknguyen/slict/blob/master/src/MergeLidar.cpp

Not that the output will have the point time stamp in nanosecond relative to the message header time stamp.

Example of how to run the merged lidar with FAST LIO can be found here

https://mcdviral.github.io/SLAMTutorial.html#fast_lio

[shenhm516]

@shenhm516 In SLICT I wrote a mergelidar node. Please check it out here:

https://github.com/brytsknguyen/slict/blob/master/src/MergeLidar.cpp

Not that the output will have the point time stamp in nanosecond relative to the message header time stamp.

Example of how to run the merged lidar with FAST LIO can be found here

https://mcdviral.github.io/SLAMTutorial.html#fast_lio

Cool! I have merged two lidar point clouds successfully with the slict_sensorsync node open-sourced in SLICT. Thank you very much @brytsknguyen .

[snakehaihai]

And Also don't forget to account for the offset between GT Leica Prism frame and Sensor frame

[shenhm516]

Hi @snakehaihai,

Thank you for your reminder. The offset between the Leica Prism frame and Sensor frame seems already considered in the evaluation Python script. Please let me know if I have any misunderstanding.

[snakehaihai]

Thats right. thx