SemanticUSL pose.txt issues

[haamoon]

Hey!

Thanks for the great work and releasing the code and dataset. I realized that there are a couple of minor issues in the poses.txt files. I was wondering if you can help me fix them?

1. For some sequences, number of rows in poses.txt is 1 or 2 lines fewer than the number of velodyne scans in the same sequence. The is the case '00', '02', '04', '05', '06', '07', '08', '09', '10', '11', '13', '14', '16', '17', '18', '19', '20', '22', '23', '24', '25', '26', '27', '28', '29', '30', '31', '33', '34', '35', '36', '37', '38', '39', '40', '41', '42', '43', '44', '45', '46', '47', '48', '49', '51', '53', '55', '57', '59', '61', '63', '65', '67', '68', '69', '70'
2. The first entry in poses.txt has very large values and seems to be wrong. This is the case for '16', '19', '59', '68', '69', '70'

How would you suggest to fix these issues?

[maskjp]

Hi,@haamoon,

That always happens at the beginning of the sequence. You can copy the close rows to overlap them.

I hope this helps!

Best wishes!

[haamoon]

How about the size mismatch? Shall I duplicate the first line or the last line?

[maskjp]

Hi, @haamoon:

There's a mismatch? Could you tell me which sequences are they?

Yes, you can try to remove front or end scans of the sequences. Because the lidar is at a very high frequency, you will not lose much accuracy or data.

Thanks!

Best wishes!

Peng Jiang

[haamoon]

Yes, I have listed the sequences with mismatch in my first post (also listed below). Thanks for the recommendation, I will try it.

'00', '02', '04', '05', '06', '07', '08', '09', '10', '11', '13', '14', '16', '17', '18', '19', '20', '22', '23', '24', '25', '26', '27', '28', '29', '30', '31', '33', '34', '35', '36', '37', '38', '39', '40', '41', '42', '43', '44', '45', '46', '47', '48', '49', '51', '53', '55', '57', '59', '61', '63', '65', '67', '68', '69', '70'