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wyzgliu gavin-tao minxuanjun haopo2005 prokgit jay80253504 goldonkey xijunke jixingwu ronghaoxxxukitti-interp's Issues
Is this project running under windows or Linux?
Now I am more confused about which operating system is running in MATLAB, there is another problem, the corresponding file input and output path problem I do not quite understand
一些小问题
十分感谢你的工作!
在使用你的代码时,我有一些小疑问,这个代码是默认用来处理KITTI给的odometry数据集中(11个训练,11个测试)的那些序列吗?不知道是不是这个原因,我尝试了一些别的序列,结果代码在跑的时候出现了一些问题。
在跑 2011_09_26_drive_0014序列时,在InterpAndNoiseGnss.m文件的 “MP_Bias = BiasLevel/1.4142 * [FF1(Xidx,Yidx) FF2(Xidx,Yidx)];”处(284行)出现了索引为非正整数情况。看了一下,是271行的“Yidx = floor((orign_n(i)-miny)/grid_size);”为0了,这应该是考虑不周,可以修改为“Yidx = max(floor((orign_n(i)-miny)/grid_size),1);”,同理上一行的Xidx处也应该如此。
在跑 2011_09_26_drive_0015序列时,InterpolateImu.m中 (第 96 行)的“dist = abs(polyval(p, prob_index) -imu_unsync_data(prob_index,1));“处出现了”位置 1 处的索引超出数组边界(不能超出 3122)“。看了一下,是95行处的”prob_index = prob_index + prob_step“结果为3131,超出了数组范围。但是因为代码的数学原理我不懂,所以我不知道怎么修改....作者大大如果有空可以看一下~
另外,这个代码可以不给gnss加任何噪声,只对其进行插值和对齐吗?因为我想从gnss来得到车辆的位姿来作为其他轨迹序列的真值....
期待回复~
老哥,你好,这个包在添加噪声时候对2011_10_03_0042内存溢出
错误使用 complex
内存不足。请键入 HELP MEMORY 查看选项。
出错 stationary_Gaussian_process (line 44)
F=fft2(lam.complex(randn(2m-1,2n-1),randn(2m-1,2*n-1)));
出错 InterpAndNoiseGnss (line 105)
[FF1,FF2,tx,ty] = stationary_Gaussian_process(length(y),length(x),rho); % plot when no output wanted
出错 ProcessKITTI (line 29)
InterpAndNoiseGnss;
请问你有啥解决办法吗,你对几个kitti的数据集都试过吗?
Could not find positive definite embedding!
Hello!
When I use this program, an error has occurred, Could not find positive definite embedding!
I use KITTI raw data 2011_09_26_drive_0084
How can I solve this problem?
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