Inquiry about running NTU-VIRAL dataset with config_ntu.yaml

[shenhm516]

Thank you for your excellent open-source lidar odometry.

I evaluated the TRAJ-LO on the NTU-VIRAL dataset with the ./trajlo ../data/config_ntu.yaml, but could not get consistent ATE results with the paper published on RA-L. The ATE is getting from the official evaluation python script from NTU-VIRAL dataset . Could you give me some advice about how to get a consistent ATE with the results illustrated in your paper? Moreover, the ./trajlo ../data/config_ntu.yaml seems useful for single lidar odometry, but does not work for the multi-lidar odometry. How can I run TRAJ-LO with multiple lidar?

Looking forward to your reply.