run PINGS on r3live

[JackCooper666]

Hello, you work is so excellent 👍 , and I have deployed your work on my PC, but how can I run your work on r3live dataset ?

I run the PINGS on r3live by the following command
python3 pings.py config/run_r3live_gs.yaml r3live -i /home/zewen/SLAM_experiments/data/MARs/r3live/rosbag/hkust_campus_02.bag -v
then I got this error:
NotADirectoryError: [Errno 20] Not a directory:
'/home/zewen/SLAM_experiments/data/MARs/r3live/rosbag/hkust_campus_02.bag/livox_points/timestamps.txt'

Should I convert the format of the rosbag into correct format by the rosbag converter ? but the rosbag_converter only provide the kitti format and ros2 format.

[Niels-Uld]

@JackCooper666 i faced the same problem. It seems like the Rosbag Converter doesn't support the custom topic from the livox driver. I handled this by adding some custom code, but it should work just adding the custom message topic to the msg dict, since the data is point cloud2. I will test this approach when I have some extra time.

[zhSlamer]

I GOT IT .
let me test some times. and then conclude my methods.
ALSO I will upload some data. You can directly use it.
Becuase I love pin. PIN help me in my research.Hope I can make some contribution!
Maybe Mymethods for converter also have some problems. But can be used for initial validation.

[zhSlamer]

这个是中文文档，如需英文，交给GPT翻译即可
目前方法暂时写在了语雀文档中：https://www.yuque.com/zhseu/md6423/qhpfu1oq0f667lrz?singleDoc# 《PINGS FOR R3LIVE》
离线下载查看Markdown文件：

PINGS FOR R3LIVE.md