cornellev / cornellev/autonomy
Virtual RGBD Sensor
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Description
top priority: easy script that synchronizes LiDAR and camera for data collection (ASAP)
- at each time frame, camera and LiDAR will be synchronized into a virtual range sensor package:
- contains RGBD: choose LiDAR or neural depth
- occupancy grid: at current t: either outputs raw LiDAR -> grid OR SLAM-aligned output
- all perception methods should expect some depth
- global coordinate frame is relative to the car's current position
- devops wise: big-global venv / Dockerfile that covers dependencies of big perception repo
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