Cartesian and cylinder
Opened this issue · 2 comments
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,so here is regular pipline
1.transform cartesian into cylinder coordinats
2.quantize cylinder coodinate(how to judge the best precision with minium error of coordinates transformation?)
3.input cylinder coordinates into network
4.transform cylinder coordinates back to cartesian coordinates
how to judge the best precision with minium error of coordinates transformation? In my opinion, these hyper-parameters are closely related to your deploy environments, and usually need a lot of ablation studies.