index the unused points

PRBonn / lidar-bonnetal

Semantic and Instance Segmentation of LiDAR point clouds for autonomous driving

http://semantic-kitti.org

MIT License

945 stars 205 forks source link

index the unused points #108

Closed pyedog1976 closed 2 months ago

pyedog1976 commented 12 months ago

Dear authors,

I'm new in the field, and my question might be fundamental.
I'm trying to figure out a way to index the unused points when I project it to the range view surface.

I didn't find the related code in the repository, or in the existing issues. Could anyone give me some help, please?

Regards

jbehley commented 5 months ago

Sorry for the very late reply.

I'm not 100% sure, but these are simply the points after the first index in the indices, see

https://github.com/PRBonn/lidar-bonnetal/blob/5a5f4b180117b08879ec97a3a05a3838bce6bb0f/train/common/laserscan.py#L152-L167

So if you want to figure out the "non-used" points, then these provide you with the index of all non-projected points.

Not sure if it still helps, but it might help in the future.