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autonomousvision / kitti360Scripts

This repository contains utility scripts for the KITTI-360 dataset.
MIT License
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groundtruth? #88

Closed HIT-Ygq closed 1 year ago

HIT-Ygq commented 1 year ago

Is groundtruth available for SLAM algorithm evaluation? I'm not sure how to play these datasets when I run LIO-SAM, and also, do you plan to convert this data into bag form?

yiyiliao commented 1 year ago

Hi, the ground truth for SLAM is available for evaluation in "Vehicle Poses" on the download page (this is the only benchmark we rely on people's honesty). For converting it to bag form, it should not be difficult to adapt kitti2bag for converting it to a rosbag. You may find also find the KITTI-360 ros player helpful.