Closed dongfangzhou1108 closed 2 years ago
Hello,
The password for the dataset folder is : npm3d
CT-ICP does not need the real timestamp of points but only the relative timestamp inside one scan.
For KITTI dataset, we compute the timestamp from the azimuth of points in a scan.
Here the Python line to compute the timestamp :
data[:,3] = float(i-FIRST_INDEX_FRAME)/10.0 + (-np.arctan2(data[:,1], data[:,0])/np.pi+1.0)*0.05
Best Regards
Thank you very much!
sorry,Can you provide the python code for me?thanks a lot!
thanks for your code, but when i check the code, data[:,3] = float(i-FIRST_INDEX_FRAME)/10.0 + (-np.arctan2(data[:,1], data[:,0])/np.pi+1.0)*0.05, by experiment, i find the beginning of the scan is from back of the lidar, can you explain it to me? thanks a lot,
here is my experiment, this is a scan ,and the height(z) is the output of float(i-FIRST_INDEX_FRAME)/10.0 + (-np.arctan2(data[:,1], data[:,0])/np.pi+1.0)*5, (ten times of orgin, for viewing), by matlab
i have seen in ct_icp code, you use the max and min of time to compute, but i guess there have a problem?
thank u very much
thanks for your code, but when i check the code, data[:,3] = float(i-FIRST_INDEX_FRAME)/10.0 + (-np.arctan2(data[:,1], data[:,0])/np.pi+1.0)*0.05, by experiment, i find the beginning of the scan is from back of the lidar, can you explain it to me? thanks a lot,
here is my experiment, this is a scan ,and the height(z) is the output of float(i-FIRST_INDEX_FRAME)/10.0 + (-np.arctan2(data[:,1], data[:,0])/np.pi+1.0)*5, (ten times of orgin, for viewing), by matlab
Hi,
This is not a problem, KITTI's Lidar frames start behind the car, and turn clockwise (when considering the direction of motion),
great appreciate with opening your great work! first, can you provide dataset passcord to me, no one relpy in mail, second, And when I see kitti website, the raw point cloud data do not have time information except scan begin and end time, How do you get the time information?
thanks a lot best wishes!