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can you provide a mechanism to restore the original sensor view image (cylindrical projection of the point cloud)? This is necessary for many semantic segmentation methods. It is possible to compute the azimuth and elevation angles from the point list to construct the point cloud, however there are a few issues:
this usually does not lead to the correct projection, because of multiple point occlusions due to imprecision
missing measurements are not included in the point list, therefore a simple reshape of the list to an image is not possible (in contrast to nuScenes dataset)
if the point cloud is ego motion corrected, it is not possible to reconstruct a dense cylindrical projection purely from the point list
the projection will suffer from avoidable information loss
Hello,
can you provide a mechanism to restore the original sensor view image (cylindrical projection of the point cloud)? This is necessary for many semantic segmentation methods. It is possible to compute the azimuth and elevation angles from the point list to construct the point cloud, however there are a few issues:
FYI @nisseknudsen
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