Dataset And Transformation Matrix

Notice that this code repo is only used for coarse alignment, and the dataset SHOULD BE AQUIRED THROUGH EMAIL (check our project page for details). If you just want to find the guidance to use our dataset, you can find the guidance here: Guidance

Lidar and Camera Positon Alignment

This repository accompany with CouldCompare can align lidar data that we collected together with the Sparse point cloud generated by SfM

Instruction

• need to have open3d, plyfile installed first

python scale_alignment.py --lidar lidar_path.ply --sparse (SfM_path.ply or bin) --result_folder folder_name

Then one can start to align them together using Cloud Compare, after that, one needs to copy transformation matrix back to result folder named as transform.txt And one can simply run the following command:

python lidar_transform.py --lidar lidar_path.ply --transform result_folder_path