Annotation on accumulation

[ClementLeBihan]

Hi all,

I'm creating this ticket to discuss about an accumulation feature to help annotate LiDAR data.

To accumulate data, we need to know the lidar pose in a global frame. I think we could use the lidar_config to register the lidar pose.

We could then load multiple pointclouds in their corresponding frame, and directly annotate multi-frames.

What do you think about this feature ?

[jotamotk]

This is an absolutely innovative feature. We are still developing it for our cloud version, and it will be coming soon.

[ClementLeBihan]

I did a first try with a setting Add Accumulation that load additional frames'pc and append it in the existing pc ...

To do so, I load the lidar_config pose matrix in IFrame lidarExternalPose of each additional frames, and I transform the pointcloud of additional frames in the current frame ... I saw there is a worldMatrix in IFrame object, it may be better to use it, I do not know exactlly what is the better way.
Maybe using the worldMatrix of objects can be easier to display multiple frames ...
What do you think ?

[guhaomine]

You are right, using worldMatrix can easily operate each point cloud. But integrating such functions into tools is not easy, and we are also trying to complete it.