Download the Semantic KITTI dataset from the official website.
Generate the ground truth loop closure files using the generate_loop_GT_KITTI.py
python data_process/generate_loop_GT_KITTI.py \
--dataset_dir DATA_DIR \
[--output_dir OUT_DIR] \
[--sequences SEQ]| Argument | Description |
|---|---|
| --dataset_dir DATA_PATH | Path to the Semantic KITTI dataset. |
| --output_dir OUT_DIR | Path where the ground truth files will be saved. If None, the files will be stored within the corresponding sequence directories of the KITTI dataset. Default: None. |
| --sequences SEQ | Comma-separated list of the KITTI sequences to pre-process. Default: 00,03,04,05,06,07,08,09. |
From KITTI360`s official website, download:
- Raw Velodyne Scans (119 GB)
- Calibrations (3 kB)
- Vehicle Poses (8.9 MB)
and extract into to the official directory structure.
Generate the ground truth loop closure files using the generate_loop_GT_KITTI.py
python data_process/generate_loop_GT_KITTI.py \
--dataset_dir DATA_DIR \
[--output_dir OUT_DIR] \
[--sequences SEQ]| Argument | Description |
|---|---|
| --dataset_dir DATA_PATH | Path to the Semantic KITTI dataset. |
| --output_dir OUT_DIR | Path where the ground truth files will be saved. If None, the files will be stored within the corresponding sequence directories of the KITTI dataset. Default: None. |
| --sequences SEQ | Comma-separated list of the KITTI sequences to pre-process. Default: "2013_05_28_drive_0000_sync", "2013_05_28_drive_0002_sync", "2013_05_28_drive_0003_sync","2013_05_28_drive_0004_sync", "2013_05_28_drive_0005_sync", "2013_05_28_drive_0006_sync","2013_05_28_drive_0007_sync", "2013_05_28_drive_0009_sync", "2013_05_28_drive_0010_sync". |