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ntu-aris / ntu_viral_dataset

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Extrinsics between Lidar to IMU??? #7

Closed zuowei1998 closed 2 years ago

zuowei1998 commented 2 years ago

Describe the BUG Could u tell me the Extrinsics between Lidar to IMU??? Matrix<3, 3> R Vector3d T Thanks a lot!

brytsknguyen commented 2 years ago

Hi, which Lidar are you referring to?

When you download the dataset, the extrinsics are given in the yaml files: image image

For the horizontal lidar's extrinsics in the above, the lidar extrinsics are Matrix<3, 3> R << 1, 0, 0, 0, 1, 0, 0, 0, 1; Vector3d T << -0.05, 0, 0.055;

Note that the z axis of both the horizontal lidar and the IMU are pointing downward. image

You can check out Section 4.4 in our paper for more information on the calibration. https://github.com/ntu-aris/ntu_viral_dataset/blob/gh-pages/docs/NTU_VIRAL_Dataset_Submission.pdf

zuowei1998 commented 2 years ago

Thank u for your answer! That's helpful for me! One more thing is that when I download dataset, always download failed. Maybe "Internet wall" in china, do u have some link like baiduNetpan or AliNetpan? sincerely thanks!!!

brytsknguyen commented 2 years ago

Hi, does the download fail in the middle of the process or does it fail right when you start downloading?

Meanwhile, can you try downloading from NTU server below? https://researchdata.ntu.edu.sg/dataset.xhtml?persistentId=doi:10.21979/N9/X39LEK

snakehaihai commented 2 years ago

Thank u for your answer! That's helpful for me! One more thing is that when I download dataset, always download failed. Maybe "Internet wall" in china, do u have some link like baiduNetpan or AliNetpan? sincerely thanks!!!

We baiduPan and Alipan are extremely slow to work with on our campus. I can try to upload, but cant promise. Are you able to use otherways like google drive or dropbox?

zuowei1998 commented 2 years ago

@brytsknguyen the download fail in the middle of the process. I have tried downloading from NTU server, but not work.

zuowei1998 commented 2 years ago

@snakehaihai google drive and dropbox are restricted in china. It's terrible.

zuowei1998 commented 2 years ago

error

snakehaihai commented 2 years ago

Baidupan tooks 16 years to upload as the upload speed is in kbs.
I`ll upload to some other online drive and see it if can work. WIll post the new link here in about 2 hours

brytsknguyen commented 2 years ago

Hi @zuowei1998, can you try downloading using wget in ubuntu:

wget https://researchdata.ntu.edu.sg/api/access/datafile/68133

The link for each file can be obtained by right-clicking and selecting "Copy link address" on the website: image

snakehaihai commented 2 years ago

error

Hi This is the first link Can you try if this service is workable in china?

https://www.transfernow.net/dl/20220418j6WdhRxb

snakehaihai commented 2 years ago

@zuowei1998

This is the second link service

https://send.tresorit.com/a#vfsO82cl177z-BIPiQ-hJw

Can you try if this works ?

zuowei1998 commented 2 years ago

@snakehaihai Both of them could be worked in china. But the second seem more better for free.hahaha~ I hope to get all of the dataset.Thanks~ @brytsknguyen I'm downloading from the command line. I don't know how it turns out. Good luck~

snakehaihai commented 2 years ago

@snakehaihai Both of them could be worked in china. But the second seem more better for free.hahaha~ I hope to get all of the dataset.Thanks~ @brytsknguyen I'm downloading from the command line. I don't know how it turns out. Good luck~

ok i`ll send you the rest of the link tmr.

Rgs Shenghai Yuan

zuowei1998 commented 2 years ago

@brytsknguyen failed again. emmm maybe... fail

snakehaihai commented 2 years ago

I`ll update the list here accordigly EEE01 https://www.transfernow.net/dl/20220418j6WdhRxb or https://send.tresorit.com/a#vfsO82cl177z-BIPiQ-hJw

EEE02 https://www.transfernow.net/dl/20220419Yh1voEGW/SmTMAaJj or https://send.tresorit.com/a#qplsKEltu1g3AMvtRvJj6A

EEE03 https://www.transfernow.net/dl/20220419a4H2rmzH/B9JXMKC2 or https://send.tresorit.com/a#BI7uGqA-u2lFLEKhi5ZjfA

NYA01 https://www.transfernow.net/dl/20220419qQ81nzw7/iF4DYb5I or https://send.tresorit.com/a#zHjwerL0Spct1gXVl_F-Rw

NYA02 https://www.transfernow.net/dl/20220419HtmgHfss/K17jNNs2 or https://send.tresorit.com/a#GTpOM0S3e2GIfLFdnSeDPg

NYA03 https://www.transfernow.net/dl/20220419w9kzyf3Y/NJiCNqrX or https://send.tresorit.com/a#1BgEAYVzpjv74YT107-7vA

SBS01 https://www.transfernow.net/dl/202204197AlkiTNT/XFLTDw9v or https://send.tresorit.com/a#1jNmIMlR1EIToolAjk1FEA

SBS02 https://www.transfernow.net/dl/20220419oA1cWizp/btIjBwCP

SBS03 https://www.transfernow.net/dl/202204194vH2teS5/HMlyF8ic

zuowei1998 commented 2 years ago

@snakehaihai Thank you very much. The download speed is very fast! Waiting for the remaining datasets to be updated.

snakehaihai commented 2 years ago

@zuowei1998 I uploaded all bags and some additional groundtruth. You may download them now.

I`ll try to find a way to make the transfernow link permanent. But for now, those links will last for 1 week. So try to download them all asap

I`ll close this issue for now. If you have any other issue, you may open new tickets.

snakehaihai commented 2 years ago

@zuowei1998
Can you help us to try if Microsoft cloud is allowed in china? https://entuedu-my.sharepoint.com/:u:/g/personal/shyuan_staff_main_ntu_edu_sg/EbsL7sB6hbpLlqIoM2zkjHUBSQrgihrpq2_gN20sYveHJg?e=ALC8z8

https://entuedu-my.sharepoint.com/:u:/g/personal/shyuan_staff_main_ntu_edu_sg/Ea-8YoqbHjlPizIvpKyFCN0BfZQnIeL-m9e4LQVztfODvA?e=HymB52

zuowei1998 commented 2 years ago

@snakehaihai China support for Microsoft cloud. But the speed is about 70% slower than above ways.about 800~900kb/s

snakehaihai commented 2 years ago

@snakehaihai China support for Microsoft cloud. But the speed is about 70% slower than above ways.about 800~900kb/s

ok thx. Our school has free 1TB space for all student and staff with Microsoft cloud. We will be adding the microsfot link soon. Thanks for your help.