PRBonn/lidar-bonnetal

How to create cali.txt and pose.txt data from custom data

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smileyr99 commented

First of all, thank you for providing excellent code and models.
I want to use RangeNet++ with my custom data.
I understand that I need to format the data similar to semantic-kitti.
So, I've labeled the data and converted it into .bin files, but I'm unsure how to create pose.txt and cali.txt files.
For pose.txt, it seems like I need to use surfel-based SLAM approach (SuMa) to obtain global coordinate values, but as a beginner, I don't know how to do that.
I would really appreciate it if you could help me.
Thank you in advance.

jbehley commented

if you are just interested in semantic segmentation, you don't need poses or the calib.txt. RangeNet++ uses a single scan. Not sure what you want to achieve. Can you maybe provide more information on your concrete problem.

The poses and calib.txt follows the KITTI conventions: see jbehley/point_labeler#23 (comment)

For pose estimation on your own data, you can give kiss icp (see https://github.com/PRBonn/kiss-icp)

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