Laser origins #1395
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Laser origins #1395
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added 8 commits
July 31, 2023 17:58
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This PR only adds 2 more commits on top of PR #1394 and introduces pointwise laser origins in the dataset loading and processing routine, enabled through the dataset config key
USE_ORIGINS=True.Laser origins can be interesting in order to track the laser rays shoot by a LiDAR scanner, in order to deduce empty space. E.g. MAELi makes use of this visibility concept.
I tested all changes and produced the following image from the loaded 'points' and 'origins' in the data_dict.
This images shows four consecutive point clouds loaded from the Waymo Open Dataset, the different shading of blue shows the different scans (dark newest to light oldest). The reddish colors show the position of the 5 LiDAR sensors and the outward traveling beams, corrected for the movement of the ego vehicle, hence different origins for each scan (yellow newest to red oldest). You can see how the Top LiDAR is 360deg while the lower LiDARs only are less than 180deg.
This demonstrates that the origin date is correctly corresponding to the point data.
I am happy to incorporate any feedback if this PR is deemed to be merged into the base repo.