经常跑开源代码的同学们应该都知道,一般slam算法在kitti上跑,都是用它的odometry部分的数据。而这部分数据中imu数据是10hz的【★★★重要更正!经大神指出,odometry部分的几个序列在raw data里实际上是有对应数据的!!!我这里调研不周密,希望没有误导太多人,非常抱歉!!!★★★】,对于vio算法来说,实在有点不够用。
kitti odometry 数据集中的内容只包含左目灰度相机图像image_0、右目灰度相机图像image_1、时间戳times.txt 、标定文件calib.txt 。这说明 kitti odometry 数据集是纯视觉的数据集,是只用于验证纯视觉SLAM的数据集。 如果想要使用其他传感器数据(比如GPS、IMU、彩色图像等),那么就需要去 kitti raw data 页面下载。
[ INFO] [1622751978.402561296]: Device with port number 2-4 was found. [ INFO] [1622751978.410749272]: No calib_odom_file. No input odometry accepted. [ INFO] [1622751978.410896287]: getParameters... [ INFO] [1622751978.637031298]: setupDevice... [ INFO] [1622751978.637141223]: JSON file is ...
This package provides a minimal set of tools for working with the KITTI dataset[1]in Python. So far only the raw datasets and odometry benchmark datasets are supported, but we're working on adding support for the others. We welcome contributions from the community. ...
KITTI Odometry dataset --> Docker mounting point └───poses/ │ │ 00.txt │ │ 01.txt │ │ ...txt │└───sequences │ └───00/ | | calib.txt | | times.txt | | image_0/ | | image_1/ | | image_2/ | | image_3/ | | velodyne/ │ └───01/ | | ......
Hi! I'm using your ros2 package with an intel D435i. This is our setup: RealsenseROS: v3.2.1 LibRealSense: v2.45.0 Device FW: v05.12.12.100 Platform: Jetson Xavier AGX OS: Ubuntu 18 / Docker, L4T v32.4.2 It happens sometimes that the nod...
('--dataset', '-ds', default='dataset_kitti', help='Root folder of the Kitti odometry dataset. Should contain folders "poses" and "sequences".') parser.add_argument('--variant', '-v', default='train', choices=['train', 'test'] help='Defines subfolders of the dataset ot use (...
pykitti Fixed Error with Tracking _load_calib Oct 10, 2023 .gitignore Updated odometry to match c46c973 in exposing projection matrices in … Aug 11, 2017 LICENSE.txt Update LICENSE.txt Sep 20, 2022 README.md Added support for random image access, switched to Pillow for image l… Mar 19...
Code for Monocular Visual Odometry Dataset - https://vision.cs.tum.edu/data/datasets/mono-dataset - tum-vision/mono_dataset_code
This package provides a minimal set of tools for working with the KITTI dataset[1]in Python. So far only the raw datasets and odometry benchmark datasets are supported, but we're working on adding support for the others. We welcome contributions from the community. ...