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nutonomy / nuscenes-devkit

The devkit of the nuScenes dataset.
https://www.nuScenes.org
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how to fix translation-z in ego_pose? #963

Closed poodarchu closed 11 months ago

poodarchu commented 11 months ago
  1. all z values in ego pose is set to 0, how to recover a accurate z?
  2. Is it possible to traverse all scenes of a map in sequence such that we could using lidar odometry to reconstruct the full map scene? How to get a valid scene sequence?
whyekit-motional commented 11 months ago

@poodarchu hope the following helps you:

  1. z was deliberately dropped as the localization in nuScenes does not have a z component (but the annotations do)
  2. You could use the code snippet I provided in https://github.com/nutonomy/nuscenes-devkit/issues/900#issuecomment-1480626303 as a reference
poodarchu commented 11 months ago

Thanks for your response, is there any way to recover the z value in ego pose? @whyekit-motional

whyekit-motional commented 11 months ago

As this data was recorded quite a few years ago, I don't think there's a feasible way to recover the z-value