search

l1997i / DurLAR

(3DV 2021) A High-fidelity 128-channel LiDAR Dataset with Panoramic Ambient and Reflectivity Imagery for Multi-modal Autonomous Driving Applications
MIT License
32 stars 1 forks source link

Ouster json calibration file #5

Closed patripfr closed 1 year ago

patripfr commented 1 year ago

Hi, thanks a lot for open sourcing this great dataset! Could you also share the internal calibration file (json format) of the ouster lidar? An example of this file can be found here.

l1997i commented 1 year ago

Here I attach the meta json file of our Ouster OS1-128 LiDAR.

Note that, we have erased sensitive information, e.g., the serial number and unique ID of the device (indicated by XXXXXXX). Hope it helps. Cheers!

os1-128.json.zip

patripfr commented 1 year ago

Thanks for providing the file so quickly! Could you specify in which frame the points in the kitti (.bin) files are? Is it the same as the "os_sensor" frame from the ouster driver or did you perform any transformation on them? Are the datasets also available in rosbag format somewhere?

l1997i commented 1 year ago

Could you specify in which frame the points in the kitti (.bin) files are?

As far as I know, KITTI does not officially provide ROS bag files, so there's no way for me to get the exact frame name. But, it is certain that KITTI point clouds are all collected from the perspective of Velodyne LiDAR.

did you perform any transformation on them?

No.

Are the datasets also available in rosbag format somewhere?

We have original rosbag files. If you want, I can send you the Onedrive links. There're also some tools (e.g., kitti2bag) that converts KITTI files into huge rosbag files.