Could you please supply some dataset?
qpc001 opened this issue · 4 comments
Amazing jobs, could you please supply some dataset?
Yay! First!
Ouster
Try ouster.launch with these bags: http://data.ouster.io/sample-data-1.13/index.html.
Velodyne (KITTI)
Try kitti.launch downloading data from the KITTI Dataset. It has to be the [synced+rectified data] ones. Here are a few examples:
- Residential data: easy. Slow motion, lots of features. Ex: Run 35
- City data: medium. More varied, lots of different scenarios. Ex: Run 91
- Road data: hard. Lots of moving cars, little amount of features. Ex: Run 15
These are zips that can be transformed to ROS bags thanks to kitti2bag.
LIO-SAM sample datasets
Also, consider the bags given by LIO-SAM at https://github.com/TixiaoShan/LIO-SAM#sample-datasets. These are very slow motion, so it should have no problem. All bags that can be scenarios that can be solved by LIO-SAM, can be solved with LIMO-Velo.
Fast-LIO sample datasets
Also consider the data given by Fast-LIO in https://github.com/hku-mars/FAST_LIO#4-rosbag-example. They give Velodyne bags and Livox Avia bags.
Today I might add support for Livox and create a specific avia.launch to run those.
Xaloc dataset
Just released data of our car to try with xaloc.launch. Find them here: https://www.dropbox.com/sh/4116xoc7srps6a5/AAC3q1h50swG7fRMI3USNn2la?dl=0.