When reproject pcl, why do you rerange order in decreasing depth?

TiagoCortinhal / SalsaNext

Uncertainty-aware Semantic Segmentation of LiDAR Point Clouds for Autonomous Driving

MIT License

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When reproject pcl, why do you rerange order in decreasing depth? #76

Closed ChillTerry closed 1 year ago

ChillTerry commented 1 year ago

like what i have said in title, i am confused about this operation, if you can aswer me for this, i would appreciate it very much! it is located in ./SalsaNext/train/common/laserscan.py line179-181.

ChillTerry commented 1 year ago

Because of the de-skewing of the scan, the assignment of each points to its corresponding (u, v) is done in a descending range order, to ensure that all points rendered in the image are in the current field of view of the sensor. -- I found the answer from RangeNet++