Providede additional raw sweeplidar and is not a rigid transformation with existing sweeplidar 3D points about pandaset-devkit HOT 4 OPEN

I was just going to describe the exact same problem.

I've downloaded raw data given the link here: #67
I've read the raw point cloud in lidar coordinate frame like shown here: #77

Then, I've tried to estimate rigid transformation from the world/ego frame to raw lidar frame, and this is the result:

@nisseknudsen , you know anything about it? Or maybe you could provide the transformation from ego frame to lidar frame, so we won't have to reverse engineer it?

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I was just going to describe the exact same problem.

I've downloaded raw data given the link here: #67
I've read the raw point cloud in lidar coordinate frame like shown here: #77

Then, I've tried to estimate rigid transformation from the world/ego frame to raw lidar frame, and this is the result:

@nisseknudsen , you know anything about it? Or maybe you could provide the transformation from ego frame to lidar frame, so we won't have to reverse engineer it?

I think transform between raw pointcloud and pandaset-pointcloud is not a rigid transformation because of motion compensation used.

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@xpchuan-95 , sure, I am ok with motion compensation :) I would be even more ok if the rigid transformation from ego frame to lidar frame would be provided by PandaSet authors :)

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I would like to have the transformation from ego frame to the sensor frames as well! @xpchuan-95

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