build Global Point cloud and absolute cameras poses

[hichem-abdellali]

Hi @mttgdd

I am wondering if it is possible to build the global point cloud for each scan within the world coordinate system ? and is it possible to obtain the absolute pose for each camera?

the key is that we would like to use your dataset in a way, where the ground truth pose of the cameras (or practically of the vehicle body, or some sensor, that we have a precise relative pose to from each camera) should be available relative to the pointcloud!

So practically we need to be able to merge all the pointclouds (the individual scans) into one big data, and project it precisely on any selected image frame, perspective stereo or omnidirectional camera image also.

Can you please elaborate if you consider these details can be obtained from your dataset?

Thank you in advance for your kind help,
Best regards,
Hichem

[APPZ99]

Hi @hichem-abdellali , I have the same problem, I would like to ask if you have solved it?