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autonomousvision / kitti360Scripts

This repository contains utility scripts for the KITTI-360 dataset.
MIT License
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velodyne data 3d raw ground truth poses #96

Closed hj-joo closed 1 year ago

hj-joo commented 1 year ago

Hi, I want to evaluate the performance using LiDAR SLAM. But I'm not sure what the ground truth for data_3d_raw is. The vehicle poses I received have a poses.txt, but the indexes do not match. For example, 2013_05_28_drive_0000_sync/velodyne_points/data contains 11518 items of raw data, but 2013_05_28_drive_0000_sync/poses.txt contains only 10514 information. This seems to mean that there is a lack of pose positions for each scan.

yiyiliao commented 1 year ago

Hi, the frame indices may not be continuous, as poses.txt only provides the pose of a given frame if the moving distance between this frame and the last valid frame is larger than a threshold. This means some frames collected at a very low moving speed are neglected.

hj-joo commented 1 year ago

If so, could you tell me how I can match the number of frames of 3d raw data and the index of poses.txt to the same number? Currently, I'm not sure how to measure the vehicle's pose only with LiDAR scans.