Transform cartesian coordinates into cylinder coordinates

[RuixiangXue]

Hi,thanks for your great work!
Cylinder voxelization is a great idea especially for lidar point cloud,I want to adopt this method into my work,but I'm confused that public available dataset such as SemanticKITTI provide cartesian coordinate data

1.transform cartesian into cylinder coordinats
2.quantize cylinder coodinate(how to judge the best precision)
3.input cylinder coordinates into network
4.transform cylinder coordinates back to cartesian coordinates