How to evaluate on KITTI dataset? about minklocmultimodal HOT 3 CLOSED

Hi,
we haven't released the code for evaluation on Kitti and we have no plans to release it.
But you can find some details regarding evaluation in Kitti in these posts, maybe they'll be useful:
#3
#4

For Kitti dataset, we use point clouds built from a single scan of 3D LiDAR with 360 degrees field of view.
You can find a dataloader for Kitti point clouds (but not for images) in our later work EgoNN. See here: https://github.com/jac99/Egonn/tree/main/datasets/kitti

from minklocmultimodal.

Hi,
Thank you for pointing me to Egonn, it helped me out. I just wanted to confirm if MinkLoc++ uses the Kitti dataset in the same way Egonn does in terms of making the map and queries.

from minklocmultimodal.

Hi, yes the same approach is taken in MinkLoc++ and Egonn:
We take Sequence 00 which visits the same places repeatedly and construct the reference database using the data gathered during the first 170 seconds. The rest is used as localization queries.
Only in MinkLocMultimodal we use RGB images in addition to point clouds from 3D LiDAR.

from minklocmultimodal.