I would like to express my sincere appreciation for your remarkable efforts in developing the Nuplan dataset. Your work has significantly contributed to advancements in the field.
1. Lidar Point Cloud Data: In our analysis, we noticed that each vehicle is equipped with 5 distinct lidar units. However, the dataset appears to only offer merged point cloud data. Would it be feasible to access separated point cloud data, or at least have metadata indicating the origin of each point within the merged cloud? This additional detail would greatly enhance our ability to utilize the data effectively.
2. Extrinsic Matrix for Lidars: Each sequence in the dataset is associated with a unique lidar token. Intriguingly, we found that different lidar tokens share identical extrinsic matrices, all configured as identity matrices. We suspect this might not reflect the actual setup. It would be greatly beneficial for our work if this issue could be examined and rectified.
3. Intrinsic Matrix for Cameras: We have also observed that different cameras share the same intrinsic matrix. This uniformity seems impractical for varied camera setups. Access to the actual intrinsic matrix data for each camera would be invaluable for our research. Could you please verify and provide the correct matrices?
Your assistance in providing more detailed information and addressing these concerns would be immensely appreciated. Thank you for your attention to these matters. I look forward to your response.
Hi Nuplan Team,
I would like to express my sincere appreciation for your remarkable efforts in developing the Nuplan dataset. Your work has significantly contributed to advancements in the field.
1. Lidar Point Cloud Data: In our analysis, we noticed that each vehicle is equipped with 5 distinct lidar units. However, the dataset appears to only offer merged point cloud data. Would it be feasible to access separated point cloud data, or at least have metadata indicating the origin of each point within the merged cloud? This additional detail would greatly enhance our ability to utilize the data effectively. 2. Extrinsic Matrix for Lidars: Each sequence in the dataset is associated with a unique lidar token. Intriguingly, we found that different lidar tokens share identical extrinsic matrices, all configured as identity matrices. We suspect this might not reflect the actual setup. It would be greatly beneficial for our work if this issue could be examined and rectified. 3. Intrinsic Matrix for Cameras: We have also observed that different cameras share the same intrinsic matrix. This uniformity seems impractical for varied camera setups. Access to the actual intrinsic matrix data for each camera would be invaluable for our research. Could you please verify and provide the correct matrices?
Your assistance in providing more detailed information and addressing these concerns would be immensely appreciated. Thank you for your attention to these matters. I look forward to your response.