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BIT-MJY / CVTNet

[TII 2023] A Cross-View Transformer Network for LiDAR-Based Place Recognition in Autonomous Driving Environments.
MIT License
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xyz = xyz * 0.005 - 100.0 #10

Closed ArthurHoumo closed 6 months ago

ArthurHoumo commented 6 months ago

你好，请问以下代码中xyz = xyz * 0.005 - 100.0的目的是什么呢？

def data2xyzi(data, flip=True): xyzil = data.view(velodatatype) xyz = np.hstack( [xyzil[axis].reshape([-1, 1]) for axis in ['x', 'y', 'z']]) xyz = xyz * 0.005 - 100.0

if flip:
    R = np.eye(3)
    R[2, 2] = -1
    xyz = np.matmul(xyz, R)
return xyz, xyzil['i']
BIT-MJY commented 6 months ago

Hi @ArthurHoumo , 感谢使用我们的代码。这部分来自nclt官网的devkit。