About the VBR dataset about pin_slam HOT 1 CLOSED

Thanks for your interest in our work.

Indeed, one solution would be using scripts/rosbag2ply.py and a shell script to convert all the rosbags.
However, as you can imagine, this is a bit cumbersome.

Now the workaround is to use the kiss-icp dataloader. The current version of PIN-SLAM supports to use the kiss-icp data loader. You may add (edit) the following contents to the config file:

setting:
  .....
  use_kiss_icp_dataloader: True
  pc_path: "./data/vbr/vbr_slam/spagna/spagna_test0" # or other sequences
  .....

For using the kiss-icp data loader, install kiss-icp by:

pip install kiss-icp

Then simply run:

python pin_slam.py ./config/lidar_slam/run_vbr.yaml rosbag /ouster/points

Currently, this rosbag dataloader does not support the loading of ground truth poses.
Therefore, you need to evaluate the results after the SLAM.

Here are some sample results that you can achieve with PIN-SLAM on the cool Rome dataset:

from pin_slam.