minwoo0611 / awesome-3d-lidar-datasets Goto Github PK

Hi Kevin,

Thanks for your great project! I'm wondering if it's possible to indicate also the channel of resolution (number of lines) for the rotating LiDARs. As it is also critical information for many applications.
Cheers!

Pengyu

Dear Minwoo,

Thank you very much for your great work!

I noticed that in the bridge dataset, you mentioned a large number of similar scenes. Recently, I want to conduct some tests on the degradation of laser in such scenes. Would you like to ask me, in addition to the similar scenes on the bridge mentioned above, are there similar scenes like highways and tunnels in the HeLiPR Sequences?

Warm regards,
Kaho

Hi minwoo,

Thanks for your great project! I've been downloading your data set recently, planning to run some tests, and have some questions about lidar point cloud information.

1. I can see that you mentioned in the System that Aeva, Avia and Ouster lidar all have the attribute reflectivity, I would like to ask you about the general concept of this attribute. I always thought it was the same property as intensity.
2. Are time_offset_ns in Aeva lidar and offset_time in Avia lidar both time stamps of representative points? Equivalent to the t attribute in Ouster
3. What is the meaning of line_index in Aeva lidar?

Kaho

Hi minwoo,
I've been trying your HeLiPR Dataset recently, but I have a question:

What is the unit of velocity in the Aeva dataset? I tried Bridege02 dataset, imitating the read *.bin function in helipr_file_player, I read a frame of Aeva pointcloud moving on the bridge, but when I printed the data, I found that most of the speed values were close to 0. like (-0.117059, -0.0196886, -0.165367...).

At the same time I look at the velocity distribution of the points as.
Velocity Distribution Intervals with Point Counts:
Interval 1: -0.485863 to -0.436184 - Points: 26
Interval 2: -0.436184 to -0.386506 - Points: 65
Interval 3: -0.386506 to -0.336827 - Points: 130
Interval 4: -0.336827 to -0.287149 - Points: 311
Interval 5: -0.287149 to -0.23747 - Points: 799
Interval 6: -0.23747 to -0.187792 - Points: 1555
Interval 7: -0.187792 to -0.138113 - Points: 3016
Interval 8: -0.138113 to -0.0884346 - Points: 4892
Interval 9: -0.0884346 to -0.0387561 - Points: 6456
Interval 10: -0.0387561 to 0.0109224 - Points: 7278
Interval 11: 0.0109224 to 0.0606009 - Points: 6336
Interval 12: 0.0606009 to 0.110279 - Points: 4598
Interval 13: 0.110279 to 0.159958 - Points: 2829
Interval 14: 0.159958 to 0.209636 - Points: 1530
Interval 15: 0.209636 to 0.259315 - Points: 749
Interval 16: 0.259315 to 0.308994 - Points: 397
Interval 17: 0.308994 to 0.358672 - Points: 238
Interval 18: 0.358672 to 0.408351 - Points: 88
Interval 19: 0.408351 to 0.458029 - Points: 33
Interval 20: 0.458029 to 0.507708 - Points: 24

In my opinion the unit of speed should not be m/s. Because most of the objects on the bridge are stationary, and the car body is relatively fast at this time. Could you please give me some suggestions? The following datasets are analyzed in detail.

Looking forward for your reply~
Kaho

1690786996161895376.zip