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PRBonn / rangenet_lib

Inference module for RangeNet++ (milioto2019iros, chen2019iros)
MIT License
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why should use sort? #42

Closed longzeyilang closed 2 years ago

longzeyilang commented 2 years ago

https://github.com/PRBonn/rangenet_lib/blob/91bde5a99245975befe65eb57088d536b9ed8fcb/src/netTensorRT.cpp#L177

I do not think it must use the sort. would you explain?

Chen-Xieyuanli commented 2 years ago

Hey @longzeyilang, thanks for using our code.

We use sort to keep only the nearest point to the sensor if several points are projected into the same range image pixel. Thus, the sort is needed.

I hope my answer is clear and helpful.

longzeyilang commented 2 years ago

Thank you for your replay. I use cuda to accelerate, and not use sort. The test results are consistent.