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hku-mars / BALM

An efficient and consistent bundle adjustment for lidar mapping
GNU General Public License v2.0
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About simulated point cloud data of consistency benchmark. #56

Open Miocio-nora opened 4 months ago

Miocio-nora commented 4 months ago

I found that in the benchmark of consistency evaluation directly reads the simulated ground true point clouds files and pose data from BALM/datas/consistency. How do you obtain these original point clouds, can these codes be shared?

Zale-Liu commented 3 months ago

We simulate a LiDAR walking in a box with 5 planes (the top of the box is open). The LiDAR emits the light. We calculate the intersection of the light and a plane. So we can get the point in the world frame and then transfer it into local frame. It is very easy.