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SysCV / shift-dev

SHIFT Dataset DevKit - CVPR2022
https://www.vis.xyz/shift
MIT License
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About LiDAR data #18

Closed trungmanhhuynh closed 1 year ago

trungmanhhuynh commented 1 year ago

Hi,

I wanted to ask if the LiDAR data is provided ? When reading the paper and instructions, I am confused about it. For example, Table 5 in Appendix does not mention LiDAR sensor, while the text talks about it. Similarly, I think the website/instruction do not mention about how to download LiDAR data?

Could you please help clarify it ? I might have missed some important info here.

Thank you very much,

suniique commented 1 year ago

Hey @trungmanhhuynh, we are glad to see people are also interested in the LiDAR pointclouds, which were designed for reference purposes. Thus, we have uploaded these data to our website. You can find the links on the Download page, and more info on Get started.

As we have mentioned in the paper, we would like to bring to users' attention that the provided point clouds are NOT sensitive to domain shift (e.g., rain, fog, …), as the CARLA LiDAR simulation is not affected by different environmental conditions. As such, the pointclouds should not be used for domain adaptation studies of LiDAR-specific behaviors. Some reasonable applications can be 3D detection/tracking under the same domain, or usage as ground truth.

trungmanhhuynh commented 1 year ago

Thanks @suniique. Greatly appreciated !

Cram3r95 commented 1 year ago

Hi,

Do you have the code to open the hdf5 file (in particular the PLY format) in order to visualize the point clouds?