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l1997i / DurLAR

(3DV 2021) A High-fidelity 128-channel LiDAR Dataset with Panoramic Ambient and Reflectivity Imagery for Multi-modal Autonomous Driving Applications
MIT License
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数据缺失和时间戳错误 #2

Closed Zhaohuanfeng closed 2 years ago

Zhaohuanfeng commented 2 years ago

你好！我发现 seq 20210716 缺少 imu.csv文件，另外imu和gps时间戳相对于lidar时间戳滞后了八个小时

l1997i commented 2 years ago

Thanks for the issue. We have now confirmed a data-processing bug related to our timestamp. We believe it's related to the conversion between winter time and daylight saving time, because we collected and processed our data at different times which results in different time zone in UK (1 hour offset).

Still working on fixing this, and will let you know immediately when we solve it. BTW, our latest drive subsets 20211208 and 20211209 are well time-synchronised and not affected by this.

l1997i commented 2 years ago

你好！我发现 seq 20210716 缺少 imu.csv文件，另外imu和gps时间戳相对于lidar时间戳滞后了八个小时

Also, I found that the timestamp offset between lidar/cam1/cam2 and gps was exactly 1 hour. As a temporal solution before we fix this, I suggest you can simply add 1 hour offset to the lidar/cam1/cam2 topics.