NCLT Dataset bag generation

zijiechenrobotics / ig_lio

iG-LIO: An Incremental GICP-based Tightly-coupled LiDAR-inertial Odometry

GNU General Public License v2.0

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Open juliangaal opened 5 months ago

juliangaal commented 5 months ago

How did you manage to generate a bag file for the NCLT dataset? With these instructions from FAST-LIO? Thanks

zijiechenrobotics commented 5 months ago

I used sensordata_to_rosbag_fastlio.py only once to generate the dataset. (too slow) The others are downloaded from Google Drive https://drive.google.com/drive/folders/1blQJuAB4S80NwZmpM6oALyHWvBljPSOE. (recommended)

Before running the script, you should download raw data from https://robots.engin.umich.edu/nclt/. Then, unzip the file and run the Python script:

python3 sensordata_to_rosbag_fastlio.py <raw data path> <your rosbag name>.bag

juliangaal commented 5 months ago

Thank you!

juliangaal commented 5 months ago

Thank you!

Another question: the campus dataset in your thumbnail/cover and youtube video, is this publically available?