ctu-vras / depth_correction Goto Github PK

Hi, sorry for bothering. After I look closer at your work, I have a question for the pipeline designed.
The pipeline provided in paper and Google drive slides are slightly different (pipelines are shown below).

In the paper, I notice that there's one more line (connecting scan and SLAM) added in the pipeline, and there seems to be no such implementation in the codes provided. Thus, I think the pipeline in the slides are more accurate. I am wondering which pipeline is designed for this work.

Dear authors,

After downloading the fee_corridor data set, I notice that there are two folders of point clouds in sequences. One is named as ouster_points and the other is static_outster_points, the former on consists of around 100 frames while the later one consists of around 30 frames. I'm wondering what are the differences between these two folders. Do they come from different environments, or simply the way they sampled are different. And if the former one is sampled when the vehicle is moving, there might be the distortions of the points, then how could we deal with such case?

Thanks!

Hi, sorry for bothering again.
From the paper I notice that the reconstructed scene is skewed upwards (shown below)

However, after I run your code, I notice that the scene is actually skewed downwards, which is similar to the figure(shown below) in this paper. And I agree that

The map is bending depending on which wall the robot was closest to while driving

As a result, I am wondering why the graph in the paper is skewed upwards, or if I did not understand correctly.
By the way, I will greatly appreciate it if you could upload the weights and configs of the hyperparameters in the near future, so that I can do some comparative experiments.

Looking forward to your reply.
Thanks

Hi~ RuslanAgishev and Tomas Petricek:
I have to say that it is a fanncy work with intensive workload. But when I tried to learn from it and followed the instruction of doc/install.md, I just found that the https://github.com/tpet/data.git link failed. Can you re-upload it? And what is the use of this data repo?
Looking forward for your reply!