kitti raw中IMU时间戳问题

kitti raw中IMU时间戳问题

LVI-SAM运行kitti 02数据集时，IMU报错。

查看IMU时间戳

#!/usr/bin/env python
# -*- coding: utf-8 -*-

from datetime import datetime
import matplotlib.pyplot as plt

DESC = "Check timestamps files"

def readfile(MyFile):
    list1 = []
    try:
        file = open(MyFile, 'r')
    except FileNotFoundError:
        print('File is not found')
    else:
        lines = file.readlines()
        for line in lines:
            a = line.split()
            h, m, s = a[1].strip().split(":")
            list1.append(int(h) * 3600 + int(m) * 60 + float(s))
    file.close()
    return list1

def drawGraph(x, y):
    plt.plot(x, y)
    plt.show()

if __name__ == "__main__":
    import argparse
    parser = argparse.ArgumentParser(description=DESC)
    parser.add_argument("timestamps_file", help="imu timestamps file in KITTI raw")
    args = parser.parse_args()
    timestamps = readfile(args.timestamps_file)
    start_time = timestamps[0]
    for i in range(len(timestamps)):
        timestamps[i] = timestamps[i] - start_time

    #print(timestamps[0:10])
    x = list(range(len(timestamps)))
    drawGraph(x, timestamps)

结果显示

将图片放大后可以看到许多问题。

手动修改突起的数据部分

垂直变化的部分是IMU数据缺失，缺失有影响的话只能将后面的全部删除了吧？？？