Can the kitti dataset be used and manipulated in lidar beams?

[Petros626]

Hello @dyfcalid,

thanks for providing such an amazin work for us!

I'd like to know, if the repo can be used to create synthetic lidar frames from kitti instead of kitti360?

Second the simulation of beam reduction is only available in the visualizer. Can it also be used to generate reduced several (>1K) frames.

Thanks in advance

[dyfcalid]

There are no strict restrictions on the dataset itself. You can refer to the data processing code and then modify and load the KITTI dataset, as they are similar.
You could obtain the saved .npy point cloud files (which can be visualized in open3d) through the simulation run_kitti_lidar4d_sim.sh . Modify the H_lidar parameter only to change the number of lidar beams.

[Petros626]

@dyfcalid Thank you!

How can I simulate from KITTI to another dataset sensor configuration except of nuScenes? I'd like to simulate KITTI to Zenseact Open Dataset.
Just adapt the --fov_lidar param of the target (Zenseact, VLS128) sensor?

[dyfcalid]

It might be helpful to check more settings, such as FOV (fov_lidar, [upper angle, range]), horizontal angular resolution (W_lidar), beam number (H_lidar, e.g., 128), maximum distance (far_lidar), mounting height (shift_z), and so on.