About simulated point cloud data of consistency benchmark.

[Miocio-nora]

I found that in the benchmark of consistency evaluation directly reads the simulated ground true point clouds files and pose data from BALM/datas/consistency. How do you obtain these original point clouds, can these codes be shared?

[Zale-Liu]

We simulate a LiDAR walking in a box with 5 planes (the top of the box is open). The LiDAR emits the light. We calculate the intersection of the light and a plane. So we can get the point in the world frame and then transfer it into local frame. It is very easy.