Closed teja-vsd closed 4 years ago
If you use the single scan case it has no effect, you are free to remove it. This is mostly to ensure that the label only has labeled pixels in the positions where points exist. If you are using semantic-kitti this is always the case, but in other cases where you may be rendering the point clouds from a mesh and also the labels, it may not be like this. Super corner-case which almost never happens.
Thank you so much for your quick reply. This helps!!!
https://github.com/PRBonn/lidar-bonnetal/blob/423311109bb6a075c8d44f545b624b42a61f8d42/train/tasks/semantic/dataset/kitti/parser.py#L160
Why do you multiply
proj_labels
withproj_mask
when a mask (which is almost similar except for the equality sign) was used during the computation ofscan.proj_sem_label
. Maybe I am missing something here. I could not get my head around this.