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lifelong-robotic-vision / OpenLORIS-Scene

Issue tracker of the OpenLORIS-Scene dataset and Lifelong SLAM Challenge
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Is it possible to sync the groundtruth.txt with the color images? #7

Closed amishra791 closed 4 years ago

amishra791 commented 4 years ago

I noticed that the color images (taken by D435i device) correspond to timestamps not found in the groundtruth.txt. Is there any way to reconcile the two together?

cedrusx commented 4 years ago

Hi @amishra791 , the groundtruth values are from mocap (for office1) or laser (for others) measurements. They generally have different timestamps from the D435i or T265 images. Would it make sense for your application if simply finding the groundtruth with nearest timestamp, or interpolating between two nearest values?

amishra791 commented 4 years ago

Thank you for your response @cedrusx . Are the timestamp measurements corresponding to the D435i images accurate (i.e. 60.png was really taken at time 60)?

cedrusx commented 4 years ago

Thank you for your response @cedrusx . Are the timestamp measurements corresponding to the D435i images accurate (i.e. 60.png was really taken at time 60)?

Yes, I suppose so. The data from RealSense cameras are hardware synchronized and stamped. The sync error between RealSense data and groundtruth should be within several milliseconds per our estimation. But the groundtruth values from laser SLAM may not be as accurate as one may expect. Please refer to the paper for more explanation.

amishra791 commented 4 years ago

Will take a look at the paper. Thank you for your help!