Question about fee_corridor data set. about depth_correction

[RuslanAgishev]

Hi,

The "static" poses (where the robot did not move) are provided in static_poses.csv and static_ouster_poses. Additionally, the ouster_points and corresponding poses.csv files contain point cloud and localization waypoints recorded in the same environment and distant approximately 1m apart (without deskewing). The former data recording method was used to mitigate an error caused by the robot's movement.
Thanks for the question.

[xiaojxkevin]

Since there are distortions in ouster_points, then what are these clouds used for? Are they used in the depth-correction process?

Thanks!

[RuslanAgishev]

We used the static clouds for the depth correction models training. The ouster_points clouds could be used for SLAM evaluation.

[xiaojxkevin]

Hi! When I try to reproduce your SLAM evaluation (run slam_eval.launch), I just simply use the points from the bag file (fee_corridor/bags/seq1.bag). So I am wondering if the points in the bag file are equivalent to points provided in ouster_points

[RuslanAgishev]

The provided bag-files contain all the point clouds recorded at 10hz. The points folder contains a sub-set of them (we save the clouds every 1m traveled by the robot).

[xiaojxkevin]

Hi, thanks for the reply! In fact, when I try to reproduce your SLAM evaluation results, I notice that there are a slight differences with the results presented in the paper. Thus, I am wondering if you could sent me a copy of the pretrained model of yours.

[RuslanAgishev]

Good point! We will upload the pre-trained model weights. Thanks

[xiaojxkevin]

Thanks for your replies.

[xiaojxkevin]

Hi, sorry for bothering, I also notice something quite strange. In the given fee_corridor data set, all the .npz files represent PointCloud data, and their formats should be (n, 4), where n means the number of points, and 4 is number of values in a certain row. I can tell that the first 3 values are x,y,z, and I am wondering what is the meaning of the 4th value, is it something like intensity?