Visualising Pseudo and Real LiDAR

[TiagoCortinhal]

Hello!

Thank you for your work and the release of your code.

I am trying to visualise both pseudo and real LiDAR as you have shown on your paper and supplementary materials. But I do not know what kind of transformation I should apply such that both align.

From your paper I got the hint that "Such a point cloud can be transformed
into any cyclopean coordinate frame given a reference viewpoint and viewing direction. We refer to the resulting point
cloud as pseudo-LiDAR signal." is what I am missing, but I have no idea how to perform this.

Could you please clarify on how to perform this task?

Thanks!

[TiagoCortinhal]

For some reason, with MiDAS if using the project_depth function doesn't align properly. But with project_disparity it does.

I guess I thought it was a depth prediction network.