Open Vonct opened 6 months ago
There are multiple questions:
.bin
file is loaded, and aggregated on the fly (no need to aggregate them before). Don't press "show single scan" if you have scan poses. If you need poses for your scans, then try kiss icp, see https://github.com/PRBonn/kiss-icp, which should provide you with poses. The whole labeling of point clouds makes from my perspective sense when you are not just labeling single point clouds; the aggregated point clouds will provide you with a way to consistently label multiple point clouds..bin
is a corresponding .label
with the same name generated. The order of the labels is the same as the points in the point clouds. If you really want to aggregate multiple scans, then simply remember how many points are in each scan, then you can easily get the labels for each individual scan, e.g., if you have scans with 1500, 2403, and 2400 points, then labels [0-1499], [1500-3902], and [3903-6302] are the ranges from the aggregated labels that correspond to the scan-wise labels.1 0 0 0 0 1 0 0 0 0 1 0
in the poses txt.In summary: If you don't really need to annotate individual scans, then don't do it. Use some LiDAR SLAM method (e.g., kiss-icp, SuMa, etc.) to estimate poses for your scans.
Thanks for your reply. I've got the poses using kiss-icp. But I still have some questions.
max_scan
, when I set a small number, and the tile size is so big that it cloud not load all the points. In such case how can I know which points would be loaded? Or just part of the scans in the tile would be loaded?.bin
files. But if I want to label singly. I need to write the poses.txt
which each line filled with 1 0 0 0 0 1 0 0 0 0 1 0
(1700 lines). But my GPU could not afford that. So now that I could not determine which scans can be loaded in one tile, I need to put part of scans to another folder. Is it the best way?
Hi, thanks for your amazing tool.
I'm currently annotating some KITTI dataset that don't have poses, while my own dataset also don't have poses. So how can i annotating them one frame by one frame?
Besides, I'm a bit little confused about the parameters in
settings.cfg
. My current understanding about it is that, the tool would read all the point cloud files in foldervelodyne
anyhow. But in one tile (the size is determined bytile size
), it would just loadmax scans
in the determined size, even there are 2000 frames in one tile's range. And since we have poses, which are the key, we can concatenate the frames in one tile. So that we can annotate the points that detected in several frames (overlapped) in just one time.Don't know if my understanding about your tools is correct. And for those did not loaded, how can I know which frames are they? Since I noticed that, the tool would automatically generate all the
.label
files in the folderlabels
In addition, when I try to test the tool on SemanticKITTI(sequence 3). In the beginning it was great. But when I click for a while something happened. It really confuses me. (this was when I open the corresponding folder)
(this was when I click the
next frame
button>
, there are no more points...)