File player for MulRan dataset
Maintainer: Giseop Kim (paulgkim@kaist.ac.kr)
This program is a file player for the MulRan dataset.
Updates (2020. 11. 19)
- We released IMU and GPS data (consumer-level), as well as the originally delivered LiDAR and radar data.
- The model specification and the extrinsic calibration (i.e., the sensor position within our car platform) is equivalent to our lab's other dataset (Complex Urban Dataset, IJRR 19), so please refer the paper.
- We expect these data supports GPS-aided radar researches, LiDAR-IMU fusion such as LIO-SAM (example video), or radar-imu fusion.
How to use
$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.bash
$ roslaunch file_player file_player.launch
- Then, you need to select a sequence directory via GUI.
- For the correct load, first you need to place the GPS, IMU, LiDAR, and radar files in a directory following this structure (see this guide video)
- IMU and GPS files (.csv) must be located at the same directory of "data_stamp.csv"
Contributors
- Jinyong Jeong: The original author
- Minwoo Jung: made the player system compatible with LIO-SAM input (i.e., supports ring information of a lidar scan)