search

ispc-lab / HRegNet

[ICCV 2021] HRegNet: A Hierarchical Network for Large-scale Outdoor LiDAR Point Cloud Registration
MIT License
90 stars 12 forks source link

how to build nuscene dataset in project #16

Closed CCCCe closed 1 year ago

CCCCe commented 1 year ago

Hello,Great work done on this model. I am reproducing in my own environment, but I have some questions when building the nuscene data set, because there are many types of sensors, so I should download all the data from individual sensors.

https://www.nuscenes.org/download

FanLu97 commented 1 year ago

Hello, you can only download the Lidar blobs and the Metadata.

CCCCe commented 1 year ago

Hello, you can only download the Lidar blobs and the Metadata.

Are you mean "nuscenes-lidarseg"，right？

FanLu97 commented 1 year ago

It should be the Full dataset (v1.0) (not nuScenes-lidarseg), and only the Lidar blobs (maybe also the keyframe blobs) and the metadata should be downloaded.

CCCCe commented 1 year ago

It should be the Full dataset (v1.0) (not nuScenes-lidarseg), and only the Lidar blobs (maybe also the keyframe blobs) and the metadata should be downloaded.

Sorry,I downloaded FULL dateset (V1.0), but the content of the file is not your dataset structure as README, can you please explain in detail

CCCCe commented 1 year ago

It should be the Full dataset (v1.0) (not nuScenes-lidarseg), and only the Lidar blobs (maybe also the keyframe blobs) and the metadata should be downloaded.

I mean that all file blobs are used in your project? and sweep file needn't any data?

FanLu97 commented 1 year ago

Yes, we use file blobs of all scenes. We do not need sweep files due to that we use point cloud of keyframes (2Hz).

CCCCe commented 1 year ago

Yes, we use file blobs of all scenes. We do not need sweep files due to that we use point cloud of keyframes (2Hz).

Thanks a lot. And I didn't find visualization file under the project. Are you achieving in other project?