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csiro-robotics / WildScenes

[IJRR2024 underreview] The official repository for the WildScenes: A Benchmark for 2D and 3D Semantic Segmentation in Natural Environments
https://csiro-robotics.github.io/WildScenes/
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calibration parameters #2

Open zwk0901 opened 2 months ago

zwk0901 commented 2 months ago

Hello, your data on unstructured scenes is very comprehensive, I wonder if you provide external calibration parameters on Lidar and camera.

StephenHausler commented 2 months ago

Hi @zwk0901, I think we already include the calibration parameters that you are looking for? In the WildScenes2d folder there are files named "camera_calibration.yaml" which contain intrinsics and extrinsics parameters. The extrinsics are the transforms between the lidar coordinate frame and the camera. Is this what you are looking for?