Problem with some parameters in squeezeseg.yaml
Zhen-ao opened this issue · 1 comments
Zhen-ao commented
Thank you very much for your work
But I’m not quite clear about some parameters in "squeezeseg.yaml
"
- How is
max_points=15000
obtained? How is it counted? - Are
img_means
andimg_stds
calculated by counting all points? If I understand correctly, doesimg_means_x
calculate the sum of all pointsx
and take the average?
best wishes
jbehley commented
Ooops, this is a rather old issue, therefore sorry that this slipped through.
- The maximum number of points considered is
150.000
, which is well above the usual number of points in the KITTI dataset (110k -120k). I think the parameter is only relevant for architectures that need a downsampled point cloud to fit the data into the memory, such as PointNets, etc. Here, I think we used then random sampling. - Here I have to refer to issue #43, where we already discussed that the real origin of the values is lost. But in principle, yes, one takes the range image and computes the mean over all valid entries in each channel and devices it by the number of valid entries.