I wonder if it is possible to also aggregate Lidar Segmentation Points

#1

Thank you for sharing your valuable dataset.

According to the Tutorial, it seems possible to aggregate lidar points to form a dense point cloud. Apart from this, I wonder if it is possible to also aggregate Lidar Segmentation Points.

#2

Hi, note that lidar segmentation labels are only available for keyframes which means that you will not be able to aggregate non-keyframe sweeps

This is also indicated in our devkit, e.g. https://github.com/nutonomy/nuscenes-devkit/blob/2c6a752319f23910d5f55cc995abc547a9e54142/python-sdk/nuscenes/nuscenes.py#L1147

1 Like
#3

Thank you for your kind reply!
Have a nice day :slight_smile: