search

PRBonn / rangenet_lib

Inference module for RangeNet++ (milioto2019iros, chen2019iros)
MIT License
309 stars 72 forks source link

Hardcoded values for the FoV on spherical projection #32

Closed kosmastsk closed 3 years ago

kosmastsk commented 3 years ago

In netTensorRT.cpp file in the function doProjection() the values of the sensor's Field of View are hardcoded as: -25 to +3 degrees.

In case that a different sensor is used with a different FoV, shouldn't these values be grabbed from the arch_cfg.yaml file that is in the (pre-trained or not) model folder and consequently in the model.onnx that has been created?

Chen-Xieyuanli commented 3 years ago

Hey @kosmastsk,

Thank you for your suggestion! I may update it later.

kosmastsk commented 3 years ago

@Chen-Xieyuanli thank you for your response. If you provide me with some guidelines, I could make this change and submit a PR.

Chen-Xieyuanli commented 3 years ago

@kosmastsk That would be great! You could find the parameters loaded in net.cpp and may add two more global variables there as fov_up and fov_down.

kosmastsk commented 3 years ago

Alright @Chen-Xieyuanli . I'll take a look and probably I'll fix this soon!